diff --git a/README.md b/README.md index efd2e66be20090d3c05d5745e3463ab7084a3b06..c122f276b0438109c3a335e8ce791c4e08ea2ce4 100644 --- a/README.md +++ b/README.md @@ -46,6 +46,8 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset | 1g | walk on gentle hills, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck` (our fork: the maker's flat plane becomes a grid of 4 m tiles with one pyramid hill each, slope 0.05 to 0.15 rise per run, one change; no terrain scan) | 3,000 on top of level 1b's 7,000 | about 128 min (2.55 s/it, over two sittings) | 20 s takes against level 1b, walking straight ahead at 0.3 m/s off a 0.15 hilltop: both hill conditions pooled (the read picked in advance) 23 of 30 against 12 of 30 (one-sided Fisher exact p = 0.0041); without shoves 14 of 15 against 8 of 15, with the maker's play shoves 9 of 15 against 4 of 15 (p = 0.070, a hint alone); flat 1 mm control 10 of 15 each, no loss. Only the 0.15 hill was tested | [microduck-walk-slope](https://huggingface.co/witcheer/microduck-walk-slope) `@v1` (walk-flat stays the default walk) | | 1h | one walk for a step, a slippery floor and harder shoves at once, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Mix-MicroDuck` (our fork: 1e's step floor, 1d's foot friction 0.2 to 1.3 and the walk-push fork's doubled training shove together; it imports their task files) | 3,000 on top of level 1e's 10,000 | 64 min (1.29 s/it) | 20 s takes walking straight ahead at 0.3 m/s. All three at once against level 1b (picked in advance): 9 of 15 against 0 of 15 (one-sided p = 0.0003). No measurable loss against each single-condition policy on its own condition: step 10 of 15 against walk-step's 13 of 15 (two-sided p = 0.39), doubled shoves 10 of 15 against walk-push's 9 of 15 (p = 1.0), slippery floor with shoves 11 of 15 against walk-slip's 3 of 15 (p = 0.0092), a low draw for walk-slip (6 to 8 of 15 in three other sets), so no loss, not a win | [microduck-walk-mix](https://huggingface.co/witcheer/microduck-walk-mix) `@v1` (walk-flat stays the default walk) | | 1i | level 1h plus gentle hills in one walk, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-MixSlope-MicroDuck` (our fork: each 4 m tile is either 1e's single 10 to 25 mm step or 1g's pyramid hill of slope 0.05 to 0.15, with 1h's foot friction 0.2 to 1.3 and doubled shoves; it imports their task files) | 3,000 on top of level 1h's 13,000 | 120 min (2.41 s/it) | no measurable gain over level 1h. 20 s takes walking straight ahead at 0.3 m/s. On the condition picked in advance (0.15 hill + 25 mm step + friction 0.2 + doubled shoves) 5 of 15 against walk-mix's 3 of 15 (one-sided Fisher exact p = 0.34). No loss on the other two: 0.15 hill without shoves 15 of 15 against walk-slope's 15 of 15; walk-mix's own floor 7 of 15 against walk-mix's 5 of 15 (two-sided p = 0.71), inside the noise | [microduck-walk-mixslope](https://huggingface.co/witcheer/microduck-walk-mixslope) `@v1` (walk-flat stays the default walk, walk-mix the mixed-floor walk) | +| 1j | level 1i plus flights of 2 and 3 steps in one walk, with ±1° of gear play | `Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck` (our fork: each 4 m tile is a 2-riser flight (25% of tiles), a 3-riser flight (25%), 1e's single step (15%), 1g's hill (15%) or flat floor (20%); risers 10 to 25 mm, treads 0.25 m; 1i's foot friction 0.2 to 1.3 and doubled shoves; it imports the step, slope, slip and push task files) | 3,000 on top of level 1i's 16,000 | 115 min (2.31 s/it) | no measurable gain over level 1i. 20 s takes walking straight ahead at 0.3 m/s, spawned on the platform of a tile. On the condition picked in advance (flights only, 25 mm risers, friction 0.2, doubled shoves) 3 of 15 against walk-mixslope's 5 of 15 (one-sided Fisher exact p = 0.89), though 14 takes against 9 got at least 1.0 m from the spawn point. The maker's flat floor 13 of 15 against 14 of 15; level 1i's own hill and step floor 6 of 15 against 11 of 15 (two-sided p = 0.14), a drop that is not significant | [microduck-walk-stairs](https://huggingface.co/witcheer/microduck-walk-stairs) `@v1` (published as a result, not a recommendation: walk-mixslope stays the hill-and-step walk) | +| 7c | right-foot kick for a 300 mm ball, with ±1° of gear play | `Mjlab-BallKick-Flat-Backlash-Big-MicroDuck` (our fork: only the ball changes, radius 0.15 m and 0.275 kg instead of 0.035 m and 15 g, with the strike point on the foot unchanged) | 3,000 on top of 13,000 (level 7's 10,000 plus 3,000 with gear play; that middle run has no folder here) | 62 min (1.25 s/it) | gain on the test picked in advance: giant ball and a goal 1.4 m ahead, 15 takes per policy, the duck stays standing and the ball is at least 1.25 m from its start after 2 s in 9 of 15 takes against 0 of 15 for the small-ball kick it started from (one-sided Fisher exact p = 0.0003), median travel after 2 s 1.29 m against 0.77 m. Two costs: the ball reached the goal in 1 of 15 takes against 15 of 15 (the new kicks go about 30° to one side, median aim -30.5° against +0.7°), and on the maker's 70 mm ball the duck stayed standing in 7 of 10 takes against 10 of 10 (two-sided p = 0.21, not significant; the 3 falls come within 0.5 s of the kick starting). With the maker's play shoves 8 of 10 against 0 of 10 (reported only) | [microduck-kick-right-giant-ball](https://huggingface.co/witcheer/microduck-kick-right-giant-ball) `@v1` | | 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. @@ -56,14 +58,14 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - `reward-curve.png`: mean reward per iteration, raw and a 50-iteration moving average. - `queue-item.sh`: the exact header that trained it. The shared body it sources is `tools/duck-train-body.sh` (resumable, checkpoint every 100 iterations, exports with the maker's `scripts/export.py`). - `manifest.json`: the schema-2 manifest `uv run publish` wrote for the policy repo, when there is one. -- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d, 1e, 1g, 1h and 1i so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). In 1g, `z5-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a hilltop: `a` = 0.15 hill with the maker's play shoves, `b` = 0.15 hill without shoves, `c` = the same layout with 1 mm hills (control); `proof-takes/score.txt` is the scorer's output. Level 1b's videos for `a` were lost to a temp-folder clash between two batches running in parallel; its take logs are complete. In 1h, `z6-*` is the new policy against a rival per condition: `a` = 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s against level 1b (`v2-*`), `b` = 25 mm step, friction 1.0, no shoves against walk-step (`z3-*`), `c` = 1 mm, friction 0.2, the maker's shove against walk-slip (`z2-*`), `d` = 1 mm, friction 1.0, doubled shoves every 3 to 6 s against walk-push (`z4-*`); `diag-z2c-*` are the two walk-slip re-runs behind the `c` caveat (`dg1-*` its own plane with the fixed command, `dg2-*` the 1h floor with random commands). In 1i, `z7*-*` is the new policy against a rival per condition, every take walking straight ahead at 0.3 m/s: `a` = 0.15 hill + 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s in the 1i task against walk-mix (`z6a-*`), `b` = 0.15 hill without shoves in the 1g task against walk-slope (`z5b-*`), `c` = 1h's own condition (25 mm step, friction 0.2, doubled shoves) in the 1h task against walk-mix (`z6c-*`); `proof-takes/score.txt` is the scorer's output. On a hill-top start `trunk_z` goes below zero once the duck walks down off the hill (it is measured from the spawn point): that is the descent, not a fall. Verdicts are read from these numbers, not from the video. -- `patches/*.py` (levels 5c, 1c, 1d, 1e, 1g, 1h and 1i): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. 1g carries its fork task file and `ground_height_patch.py` (height terms measured from the ground under the feet, not the tile origin, which is what lets them see a slope); 1h carries its fork file, the three single-condition task files it imports, and the same ground patch. 1i carries its fork file, the four task files it imports (step, slope, slip, push) and the same ground patch. +- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b, 2b, 3b, 5b, 5c, 4b, 11, 11d, 1c, 1d, 1e, 1g, 1h, 1i, 1j and 7c so far; level 7 adds the ball position on every line). Level 5b keeps one subfolder per recording batch: forced spawns standing, face down and face up for both policies (`vsbl-matrix-*`), a random-spawn batch (`vsbl-2026-09-26`), trunk-tracking takes (`vsbl-track-*`), and level 5 in its original sim without gear play (`vsbl-ref-*`). In the 1b folder `seed-*` is level 1, `twin-*` is 1b, and `ref-seed-*` is level 1 in its original sim; 2b and 3b use `seed-*` / `twin-*` / `ref-*` the same way. In 5c, `proof-vsr3-2026-10-02` has `v3-*` (5c) and `seed-*` (level 5) on forced terrain rows, and `vsrough3-terrain-2026-10-01` compares the 22,900-iteration checkpoint (`vsr3-*`) against a rough retrain on the stock random grid (`vsr2-*`). In 4b, `proof-y-a-2026-10-11` has `y-*` (4b) and `v1-*` (level 4) on forced rows 6 and 9 with gear play, and `proof-y-b-2026-10-11` has both in the plain rough sim (`ref-*`). In 11d, `x-*` is 11d and `w-*` is 11c: `proof-x-a` standing on row 9, `proof-x-b` from belly and back on row 6, `proof-x-c` flat with gear play. Level 11's `verdict-carpet-*` folders are the flat forced-spawn takes, and `carpet-gap-*` (also in 11c) are the maker's `infer_policy.py` on soft carpet, one full log per case. Level 11c's flat forced-spawn takes, the ones its model card quotes, are the `w-*` files in 11d's `proof-x-c-2026-10-11`. In 1c and 1d, `z-*` (1c) and `z2-*` (1d) are the new policy and `v2-*` is level 1b, one subfolder per condition: in 1c `a` = trunk mass 1.30x with play shoves, `b` = 1.30x without shoves, `c` = normal mass with shoves; in 1d `a` = foot friction 0.2 with shoves, `b` = 0.2 without shoves, `c` = 1.0 with shoves, and each `*x` folder is the extension of that condition (the take numbers continue from the first set). In 1e, `z3-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a standing start on a platform: `a` = a 25 mm step with play shoves, `b` = the 25 mm step without shoves, `c` = the same layout at 1 mm with shoves (a zero-height box does not compile, so 1 mm is the no-step control). In 1g, `z5-*` is the new policy and `v2-*` is level 1b, every take walking straight ahead at 0.3 m/s from a hilltop: `a` = 0.15 hill with the maker's play shoves, `b` = 0.15 hill without shoves, `c` = the same layout with 1 mm hills (control); `proof-takes/score.txt` is the scorer's output. Level 1b's videos for `a` were lost to a temp-folder clash between two batches running in parallel; its take logs are complete. In 1h, `z6-*` is the new policy against a rival per condition: `a` = 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s against level 1b (`v2-*`), `b` = 25 mm step, friction 1.0, no shoves against walk-step (`z3-*`), `c` = 1 mm, friction 0.2, the maker's shove against walk-slip (`z2-*`), `d` = 1 mm, friction 1.0, doubled shoves every 3 to 6 s against walk-push (`z4-*`); `diag-z2c-*` are the two walk-slip re-runs behind the `c` caveat (`dg1-*` its own plane with the fixed command, `dg2-*` the 1h floor with random commands). In 1i, `z7*-*` is the new policy against a rival per condition, every take walking straight ahead at 0.3 m/s: `a` = 0.15 hill + 25 mm step + friction 0.2 + doubled shoves every 3 to 6 s in the 1i task against walk-mix (`z6a-*`), `b` = 0.15 hill without shoves in the 1g task against walk-slope (`z5b-*`), `c` = 1h's own condition (25 mm step, friction 0.2, doubled shoves) in the 1h task against walk-mix (`z6c-*`); `proof-takes/score.txt` is the scorer's output. On a hill-top start `trunk_z` goes below zero once the duck walks down off the hill (it is measured from the spawn point): that is the descent, not a fall. In 1j, `z8*-*` is the new policy against walk-mixslope (`mx*-*`) per condition, every take walking straight ahead at 0.3 m/s from the platform of a tile: `a` = flights of 2 or 3 steps only (25 mm risers, friction 0.2, doubled shoves every 3 to 6 s) in the 1j task, `b` = the maker's flat task with its play shoves, `c` = 1i's own condition (0.15 hill, 25 mm step, friction 0.2, doubled shoves) in the 1i task; `proof-takes/score.txt` is the scorer's output, and it also counts the takes that got at least 1.0 m from the spawn point. In 7c, `bkn*-*` is the new kick against its seed (`bks*-*`, the backlash kick at 13,000 iterations): `a` = the 300 mm ball and a goal 1.4 m ahead, no shoves, 15 takes per policy; `b` = the same with the maker's play shoves, 10 takes; `c` = the maker's 70 mm ball at a random heading, 10 takes, for the no-loss check. Each 7c take is 6 s, standing spawn, sampled every 0.1 s, with the ball position on every line; the goal exists only in the play setup. Verdicts are read from these numbers, not from the video. +- `patches/*.py` (levels 5c, 1c, 1d, 1e, 1g, 1h, 1i, 1j and 7c): the local changes to the maker's code the level trained with; for 1c, 1d and 1e that is the fork task file. 1g carries its fork task file and `ground_height_patch.py` (height terms measured from the ground under the feet, not the tile origin, which is what lets them see a slope); 1h carries its fork file, the three single-condition task files it imports, and the same ground patch. 1i carries its fork file, the four task files it imports (step, slope, slip, push) and the same ground patch. 1j carries its fork file, the same four task files and the same ground patch. 7c carries its fork file only (a ball task on a flat plane, no ground patch). - `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; both gear-play v2 walks side by side for level 1b, level 5 against 5b (both running with gear play) for level 5b, level 4b against level 4 on the hardest block-grid row with gear play (level 4 tips over at 7.1 s; the last frame is held 1.5 s), level 1d against level 1b at foot friction 0.2 with shoves for level 1d (a red box marks each fall, where the sim restarts the duck), level 1e against level 1b walking off a 25 mm step without shoves for level 1e (red box where level 1b falls and the sim restarts it, green box where level 1e walks down the step), the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 1i's clip is the trained policy alone on a separate 40 s take (0.15 hill, 25 mm step, normal grip, no shoves; none of the scored 20 s takes crossed both tile kinds): it steps down off the step and later walks onto a hill, played at 2x, with no reset inside the window. Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet. ## Tools - `tools/headless_play.py`: records any checkpoint of any mjlab task over ssh with no display. Both of mjlab's play viewers fail headless (viser asserts on a degenerate command slider, the native one wants X11); this wrapper swaps them for a plain policy loop, lets play's own recorder write the mp4, forces the spawn state, overrides the episode length, prints every reset and samples trunk height and body-frame gravity at a chosen cadence. Copy it into the microduck_rl project dir and run with `uv run python`. -- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. `tools/proof-z5-*.sh`, `tools/z5-score-2026-10-16.py`, `tools/slope-play-check-2026-10-14.sh` and `tools/slope-calib-2026-10-14.sh`: the batches, scorer, slope-override check and control takes behind 1g. `tools/proof-z6-*.sh`, `tools/z6-score-2026-10-17.py`, `tools/upright-reset-check-2026-10-22.py`, `tools/worstcase-2026-10-22.py` and `tools/diag-z2c-*.sh`: the batches, scorer, upright-reset checks and walk-slip re-runs behind 1h. `tools/proof-z7-*.sh` and `tools/z7-score-2026-10-22.py`: the batches and scorer behind 1i; `tools/clip-z7-fresh.sh` and `tools/cut-mixslope-x.sh` record and cut its clip. +- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b. `tools/proof-*.sh` and `tools/proof-verdicts.py`: the batches and the scorer behind 2b, 3b and 5c; `tools/vsrough3-terrain-matrix.sh` and `tools/vsrough-falls.py`: the earlier 5c terrain comparison. `tools/proof-common-wt.sh`, `tools/proof-y-*.sh`, `tools/proof-x-*.sh`, `tools/take-score-2026-10-11.py` and `tools/recov-gz-2026-10-11.py`: the batches and scorers behind 4b and 11d (the second counts falls and rises from body-frame gravity only, because on rough ground the trunk height is measured from the patch origin); `tools/verdict-carpet.sh`: level 11's flat takes. `tools/proof-z-*.sh` and `tools/proof-z2-*.sh`: the batches behind 1c and 1d (scored with `take-score-2026-10-11.py`); `tools/mass-play-check-2026-10-12.sh` and `tools/fric-play-check-2026-10-13.sh` prove the trunk-mass and foot-friction overrides reach the play env before any take counts. `tools/proof-z3-*.sh` and `tools/z3-score-2026-10-14.py`: the batches and the scorer behind 1e (the scorer also places each fall by its distance from the platform centre, 0.65 to 1.15 m being the edge band); `tools/step-play-check-2026-10-14.sh` checks the step-height override in the play env. `tools/proof-z5-*.sh`, `tools/z5-score-2026-10-16.py`, `tools/slope-play-check-2026-10-14.sh` and `tools/slope-calib-2026-10-14.sh`: the batches, scorer, slope-override check and control takes behind 1g. `tools/proof-z6-*.sh`, `tools/z6-score-2026-10-17.py`, `tools/upright-reset-check-2026-10-22.py`, `tools/worstcase-2026-10-22.py` and `tools/diag-z2c-*.sh`: the batches, scorer, upright-reset checks and walk-slip re-runs behind 1h. `tools/proof-z7-*.sh` and `tools/z7-score-2026-10-22.py`: the batches and scorer behind 1i; `tools/clip-z7-fresh.sh` and `tools/cut-mixslope-x.sh` record and cut its clip. `tools/proof-z8-*.sh`, `tools/09z9-duck-proof-velstairs.sh`, `tools/z8-score-2026-10-23.py` and `tools/stairs-play-check-2026-10-23.sh`: the batches, the proof queue item, the scorer and the floor check behind 1j. `tools/proof-bk-*.sh`, `tools/09z11-duck-proof-bigkick.sh`, `tools/bk-score-2026-10-24.py` and `tools/bigkick-play-check-2026-10-24.sh`: the same for 7c. `tools/headless_play.py` gained `--no-push` dropping the curriculum terms bound to the shove event, which the kick task needed. - `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 @@ -96,6 +98,9 @@ All budgets are the maker's `max_iterations` from the task config unless stated. - A verdict watcher can die without a trace. 1g and 1h finished training on a Sunday and sat four days with no proof takes, because the watcher that should have started them logged one line and vanished. - Two forks that each won did not add up. Level 1i trained 1h's floor and 1g's hills together: it walked the hill as well as walk-slope (15 of 15 each) and stayed level with walk-mix on walk-mix's floor, but on the combined floor it held 5 of 15 against walk-mix's 3 of 15 (p = 0.34), and its reward was flat from the first 1,000 of its 3,000 iterations. The hill floor also costs about twice as much per iteration as the step floor (2.41 against 1.29 s/it). - A proof batch cannot share the card with a job that books almost all of its memory. 1i's first batches started a minute after a bench job took 29 to 32 GB of the 32 GB card and most takes died on allocation errors; they were set aside and rerun unchanged on the idle card, and only the rerun is scored here. +- Training on the floor you want to test did not teach it. Level 1j put flights of 2 and 3 steps in the mix and held 3 of 15 on flights against its seed's 5 of 15 (p = 0.89), although more takes reached the first step (14 against 9). Its reward was flat from the first 1,000 of its 3,000 iterations (58.9 at 17,000, 60.7 at 19,000), and on the seed's own floor it held 6 of 15 against 11 of 15 (p = 0.14): more of the same training on a harder mix did not add the new skill and may have cost some of the old one. +- A kick that got stronger also got worse at aiming. Level 7c trained the kick on a 300 mm ball with the maker's rewards and no aim term: ball at least 1.25 m away after 2 s went from 0 of 15 to 9 of 15, and the ball reaching a goal straight ahead went from 15 of 15 to 1 of 15, because the new kick sends it about 30° to one side. The reward pays for forward speed, not direction, so the seed's near-zero aim did not carry over to the stronger kick. Aim is the next thing to train. +- A no-loss check on the old ball is worth its 10 takes. Level 7c's three falls on the 70 mm ball (7 of 10 standing against 10 of 10) are not significant at that n, but they came within 0.5 s of the kick starting, which is a stability cost the giant-ball takes never showed. ## Posts diff --git a/level-01j-walk-stairs/manifest.json b/level-01j-walk-stairs/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..71657ad02664a2733059bd980bea0261a966e1d5 --- /dev/null +++ b/level-01j-walk-stairs/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-stairs", + "kind": "perpetual", + "entry_pose": "standing", + "description": "walk-mixslope with short stairs added, with +-1 deg of gear play in every servo: walk-mixslope v1 plus 3,000 iterations (16,000 to 19,000) on a floor where each 4 m tile is a flight of 2 or 3 steps (risers 10 to 25 mm, 0.25 m treads, half of the tiles), a single step, a hill or flat floor, with foot friction from 0.2 to 1.3 and the training shove doubled to +-0.6 m/s every 3-6 s (our fork Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck), 4096 envs, 115 min on one RTX 5090. Trained in simulation only. Result: no measurable gain over walk-mixslope, so it does not replace it. On the test picked before training (flights of 2 or 3 steps with 25 mm risers, friction 0.2, doubled shoves, walking straight ahead at 0.3 m/s) it stayed on its feet for 20 s in 3 of 15 takes against 5 of 15 for walk-mixslope (one-sided Fisher p 0.89), though it walked at least 1 m from its start in 14 takes against 9. No better elsewhere: flat floor 13 of 15 against 14 of 15; walk-mixslope's own hill and step floor 6 of 15 against 11 of 15 (two-sided p 0.14, not significant, a drift down). 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": "velstairs-2026-10-24-it19000.onnx" + } +} diff --git a/level-01j-walk-stairs/patches/ground_height_patch.py b/level-01j-walk-stairs/patches/ground_height_patch.py new file mode 100644 index 0000000000000000000000000000000000000000..3a6631033e78595d99e4abd9b628e59ee1f27bd1 --- /dev/null +++ b/level-01j-walk-stairs/patches/ground_height_patch.py @@ -0,0 +1,60 @@ +"""ground_height_patch.py (2026-09-29): measure the trunk against the ground UNDER the duck on rough terrain. + +bug (found 2026-09-29, log.md): every height read in mdp.py is `root_z - env_origins[:, 2]`. pyramid stairs and +slopes put the env origin on the TOP platform, so an upright duck ~40 mm down the steps counts as fallen +(`_fallen_mask`, VelStand gate 0.08 m) and `fallen_too_long` resets it 8 s later (RESET at 8.08 / 16.18 s with +grav_b z -1.00 in the forced-terrain takes); the height-shaped rewards are skewed the same way. + +fix: `_ground_z(env)` = mean hit height of the existing `foot_height_scan` rays (2 feet x 2 rays, straight down, +terrain geoms only) on generator terrain; env-origin z everywhere else (plane terrain has `terrain_origins is None`, +and tasks without the sensor), so flat tasks compute exactly what they did before. every +`root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]` read in a function body is rewritten to use it. +the SitStand command term's `_alpha_from_height` (self._env_ref form) is left alone: SitStand-Rough has no foot +sensor in its cfg and holds still on its platform. + +idempotent; writes mdp.py.bak-groundz-2026-09-29 on first run. +""" +import pathlib +import shutil + +mdp = pathlib.Path("/home/witcheer/Pollen/microduck_rl/src/mjlab_microduck/tasks/mdp.py") +bak = mdp.with_name("mdp.py.bak-groundz-2026-09-29") +s = mdp.read_text() +if "def _ground_z(" in s: + print("already patched") + raise SystemExit(0) +if not bak.exists(): + shutil.copy2(mdp, bak) + +OLD = "asset.data.root_link_pos_w[:, 2] - env.scene.terrain.env_origins[:, 2]" +NEW = "asset.data.root_link_pos_w[:, 2] - _ground_z(env)" +n = s.count(OLD) + +helper = '''def _ground_z(env: ManagerBasedRlEnv) -> torch.Tensor: + """Ground height under the robot, per env. + + Generator (rough) terrain with the per-foot `foot_height_scan` ray sensor: the mean + height of the rays' terrain hits under both feet. Anything else (plane terrain, where + `terrain_origins` is None, or a task without the sensor): the env origin's z, which is + what every height read used before 2026-09-29, so flat tasks are unchanged. On pyramid + stairs/slopes the origin sits on the top platform, and origin-relative heights read an + upright duck a few steps down as fallen (see ground_height_patch.py). + """ + terrain = env.scene.terrain + origin_z = terrain.env_origins[:, 2] + if getattr(terrain, "terrain_origins", None) is None or "foot_height_scan" not in env.scene.sensors: + return origin_z + d = env.scene.sensors["foot_height_scan"].data + hit_z = d.hit_pos_w[..., 2] + ok = (d.distances >= 0) & (d.normals_w[..., 2] > 0) + cnt = ok.sum(dim=-1) + mean = torch.where(ok, hit_z, torch.zeros_like(hit_z)).sum(dim=-1) / cnt.clamp(min=1) + return torch.where(cnt > 0, mean, origin_z) + + +''' +i = s.index("def _fallen_mask(") +s = s[:i] + helper + s[i:] +s = s.replace(OLD, NEW) +mdp.write_text(s) +print(f"patched: helper added, {n} height reads rewritten") diff --git a/level-01j-walk-stairs/patches/witcheer_velocity_push_env_cfg.py b/level-01j-walk-stairs/patches/witcheer_velocity_push_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..3bd72cb405ba16f09269b08bdf580d0170d71b29 --- /dev/null +++ b/level-01j-walk-stairs/patches/witcheer_velocity_push_env_cfg.py @@ -0,0 +1,85 @@ +"""witcheer fork: Microduck walk with gear play under STRONGER PUSHES. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Push-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 size of the training shove. The +maker's ``push_robot`` event (``mdp.push_by_setting_velocity``, mode +``interval``) ADDS a random root velocity change drawn per axis from +``VELOCITY_PUSH_RANGE`` = (-0.3, 0.3) m/s in x and y, every 3 to 6 s +(``VELOCITY_PUSH_INTERVAL_S``) in training. This fork multiplies the x and y +ranges by ``PUSH_SCALE`` = 2.0, i.e. (-0.6, 0.6) m/s. The interval stays the +maker's 3-6 s, so the duck is shoved as often as before, only harder. + +Read before trusting a gain: the maker's cfg comment says their earlier ++-0.5 m/s ("an ADDITIVE kick larger than max walk speed (0.4) every 3-6 s") +trained "a permanently nervous fall-recovery gait" (2026-07 audit), and they +cut it to +-0.3 so a calmer gait could be optimal. +-0.6 is past that line on +purpose: this fork asks whether harder shoves buy push robustness and what it +costs the calm gait. The verdict therefore includes the maker-strength control +and the training windows (error_vel_xy, fell_over) against walk-flat v2. + +Play: the maker's play branch shortens the push interval to 0.5-1.0 s "for +better visibility", same range. This fork keeps that and scales the range the +same way, so a play take at the default scale is a strong shove every 0.5-1 s. + +Everything else (rewards, terminations, backlash robot, curricula, mass and +friction DR, solver settings, observations) is the maker's. + +Verdict overrides (read at import, i.e. at process start; unset = the values +above, so the training env never sees them): +- ``MICRODUCK_PUSH_SCALE=s`` replaces 2.0 (``1.0`` = the maker's +-0.3 m/s), + so play takes can run the seed and the fork under the same shove. +- ``MICRODUCK_PUSH_INTERVAL=lo,hi`` in seconds replaces the interval of + whichever cfg is built (train 3-6 s, play 0.5-1.0 s), so a play take can use + the training cadence. +""" + +import os + +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-Push-MicroDuck" + +PUSH_SCALE = 2.0 # x the maker's VELOCITY_PUSH_RANGE (-0.3, 0.3) m/s -> (-0.6, 0.6) + + +def _push_scale(): + v = os.environ.get("MICRODUCK_PUSH_SCALE") + return float(v) if v else PUSH_SCALE + + +def _push_interval(): + v = os.environ.get("MICRODUCK_PUSH_INTERVAL") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return None + + +def make_witcheer_velocity_push_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + push = cfg.events["push_robot"] # KeyError if the maker ever turns ENABLE_VELOCITY_PUSHES off: loud on purpose + s = _push_scale() + vr = push.params["velocity_range"] + push.params["velocity_range"] = {k: (lo * s, hi * s) for k, (lo, hi) in vr.items()} + iv = _push_interval() + if iv is not None: + push.interval_range_s = iv + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_push_env_cfg(), + play_env_cfg=make_witcheer_velocity_push_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01j-walk-stairs/patches/witcheer_velocity_slip_env_cfg.py b/level-01j-walk-stairs/patches/witcheer_velocity_slip_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..80b654fd652b83452ffc6b34f57e30c450e3ed39 --- /dev/null +++ b/level-01j-walk-stairs/patches/witcheer_velocity_slip_env_cfg.py @@ -0,0 +1,64 @@ +"""witcheer fork: Microduck walk with gear play on a SLIPPERY floor. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Slip-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 parameter. The maker randomises the foot +friction at startup (mjlab ``dr.geom_friction``, ``operation="abs"``, +``shared_random=True``) on ``left_foot_collision`` / ``right_foot_collision`` +over (0.7, 1.3), narrowed from mjlab's (0.3, 1.2) default ("Grippier footpad", +``microduck_velocity_env_cfg.py``). This fork lowers the bottom of that range +to 0.2: each env walks with a fixed foot friction between 0.2 and 1.3 for the +whole run. + +Why the foot friction is the floor friction here: the robot cfg gives the foot +collision geoms ``priority=1`` (``microduck_constants.py``), and MuJoCo uses the +higher-priority geom's friction for a contact, so the floor's own value never +enters a foot contact. A low foot friction therefore models a slippery floor +(polished tile, laminate, a sheet of paper) as much as a worn pad. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass DR) is the maker's. + +Verdict override: ``MICRODUCK_FOOT_FRICTION=lo,hi`` (read at import, i.e. at +process start) replaces the range, so play takes can force the slipperiest case +(``0.2,0.2``) or a normal floor (``1.0,1.0``) for both the seed and the fork. +""" + +import os + +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-Slip-MicroDuck" + +FOOT_FRICTION = (0.2, 1.3) # maker (0.7, 1.3), mjlab default (0.3, 1.2) + + +def _friction_range(): + v = os.environ.get("MICRODUCK_FOOT_FRICTION") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return FOOT_FRICTION + + +def make_witcheer_velocity_slip_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.events["foot_friction"].params["ranges"] = _friction_range() + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_slip_env_cfg(), + play_env_cfg=make_witcheer_velocity_slip_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01j-walk-stairs/patches/witcheer_velocity_slope_env_cfg.py b/level-01j-walk-stairs/patches/witcheer_velocity_slope_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..51c2a514e8cd9cf7783b1cabdd3a8d8feca203d5 --- /dev/null +++ b/level-01j-walk-stairs/patches/witcheer_velocity_slope_env_cfg.py @@ -0,0 +1,113 @@ +"""witcheer fork: Microduck walk with gear play over SLOPES. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck`` by one import line appended +to the end of ``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +What changes against the maker's ``Mjlab-Velocity-Flat-Backlash-MicroDuck`` +(walk-flat v2 on the Hub): ONE thing, the floor. The maker trains this task on +an infinite plane (``terrain_type="plane"``). This fork swaps the plane for a +generated floor of gentle hills: every 4 m tile is one heightfield pyramid +(mjlab ``HfPyramidSlopedTerrainCfg``, the same generator and the same 1 mm +vertical resolution the maker's rough grid uses for its ``pyramid_slope`` +patches), flat top in the middle, sloping down to floor level at the tile +edge, so a duck walking straight from its spawn goes down one hill and up the +next. Gradient (rise / run) is drawn per tile uniformly from 0.05 to 0.15 +(about 2.9 to 8.5 deg). The maker's rough patches stop at 0.10 ("small robot, +small slopes"), so the top of this range is 1.5x past their cap, the same +choice the step fork made for step height (25 mm vs their 15 mm). + +Shape of one tile (mjlab's generator, not ours): the height is +``h_max * x * y`` with x, y the normalised distances from the tile edge, then +clipped at the platform height, so the flat top is a four-pointed star about +1.0 m (diagonal) to 1.15 m (axis) from the tile centre, and the slope runs from +there to the tile edge (2.0 m on the axis). At gradient 0.15 the top sits +127 mm above the floor, about the duck's own trunk height. Random mode +(``curriculum=False``, the mjlab default the maker's flat task never touches), +10 x 10 tiles, no terrain-level curriculum (the maker's flat cfg deletes it and +so does this fork). NOT inverted: the maker removed inverted pyramids from +their rough grid because the env origin lands in the pit. + +Height reads: the env origin sits on the hill top, so any read of +``root_z - env_origin_z`` is off by the hill height once the duck walks down. +Our clone's ``ground_height_patch.py`` makes ``_ground_z`` read the +``foot_height_scan`` ray hits on generator terrain, and in this task the only +active term that reads height (``head_pose_bias``) goes through it. +``body_pose_tracking_6d`` reads the origin directly but has weight 0 in the +velocity task. ``out_of_terrain_bounds`` becomes live with a generator floor +(a no-op on a plane); the 40 m grid plus the 20 m outer border means a 20 s +episode cannot reach it. + +Everything else (rewards, terminations, pushes, backlash robot, curricula, +mass and friction DR, solver settings, observations: the policy still has no +terrain scan, it meets the slope blind like the real robot would) is the +maker's. The maker's rough branch also softens terrain contacts and raises +solver iterations; this fork does not, to keep one variable (the step fork made +the same call). ``nan_state`` covers contact-force NaNs since the maker's +2026-08-21 hfield-slope crash; watch it in the probe. + +Verdict override: ``MICRODUCK_SLOPE=lo,hi`` (rise / run, read at import, i.e. +at process start) replaces the gradient range, so play takes can force the +steepest hill (``0.15,0.15``) or a near-flat floor on the same layout +(``0.001,0.001`` = a 1 mm top) for both the seed and the fork. +""" + +import os +from copy import deepcopy + +import mjlab.terrains as terrain_gen +from mjlab.terrains.terrain_generator import TerrainGeneratorCfg +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_WALK_BACKLASH_ROBOT_CFG +from mjlab_microduck.tasks import MicroduckOnPolicyRunner, MicroduckRlCfg +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_velocity_env_cfg import make_microduck_velocity_env_cfg + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Slope-MicroDuck" + +SLOPE_RANGE = (0.05, 0.15) # rise / run; maker's rough pyramid_slope is (0.03, 0.10) +TILE = 4.0 # m, one hill per tile (same tile as the step fork) +PLATFORM = 1.5 # m, platform_width passed to the generator (same as the step fork) + + +def _slope_range(): + v = os.environ.get("MICRODUCK_SLOPE") + if v: + lo, hi = (float(x) for x in v.split(",")) + return lo, hi + return SLOPE_RANGE + + +SLOPE_TERRAIN_CFG = TerrainGeneratorCfg( + size=(TILE, TILE), + border_width=20.0, # same outer border as the maker's rough grid + num_rows=10, + num_cols=10, + curriculum=False, + sub_terrains={ + "hill": terrain_gen.HfPyramidSlopedTerrainCfg( + proportion=1.0, + slope_range=_slope_range(), + platform_width=PLATFORM, + vertical_scale=0.001, # maker's value: 1 mm steps, smooth gentle slopes + ), + }, + add_lights=False, +) + + +def make_witcheer_velocity_slope_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = deepcopy(SLOPE_TERRAIN_CFG) + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_slope_env_cfg(), + play_env_cfg=make_witcheer_velocity_slope_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01j-walk-stairs/patches/witcheer_velocity_stairs_env_cfg.py b/level-01j-walk-stairs/patches/witcheer_velocity_stairs_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..dd380d35cb3b86dd026340b45f47a06573e3efd0 --- /dev/null +++ b/level-01j-walk-stairs/patches/witcheer_velocity_stairs_env_cfg.py @@ -0,0 +1,149 @@ +"""witcheer fork: Microduck walk with gear play over short FLIGHTS OF 2-3 STEPS, in the mix conditions. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered +as ``Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck`` by one import line +appended to the end of ``tasks/__init__.py``; nothing else in the Pollen tree +is edited. + +Why: the single-step fork (09z3) was a GAIN, and the mix/mixslope forks +carry steps, slippery feet, 2x shoves and hills in one policy (walk-mixslope +is the newest published walk). The next honest question is the one a real +staircase asks: can the same policy climb up and down a short flight, where +the second riser arrives one stride after the first. Warm start is the +walk-mixslope final checkpoint (09z7 model_16000), 16000 -> 19000 (3k rule). + +What changes against walk-mixslope's task (``Mjlab-Velocity-Flat-Backlash-MixSlope-MicroDuck``, +every other line of its cfg is reused, nothing copied): ONLY the tile mix of the +generated floor. Same 4 m tiles, 10 x 10 grid, 20 m outer border, random mode +(``curriculum=False``), foot friction DR (0.2, 1.3), shoves x2 at the maker +interval, backlash robot. Tile types, drawn per tile with these shares: + +- ``stairs2`` 0.25: a pyramid of TWO risers (floor -> h -> 2h), one tread of + 0.25 m between them, then a 2.5 m square platform at 2h (the env origin). +- ``stairs3`` 0.25: THREE risers (floor -> h -> 2h -> 3h), two treads of 0.25 m, + then a 2.0 m square platform at 3h. +- ``single_step`` 0.15: the 09z3 tile (1.5 m platform, one riser), so the + single-step skill is rehearsed. +- ``hill`` 0.15: the 09z5 heightfield tile (gradient 0.05-0.15), so the slope + skill walk-mixslope carries is rehearsed. +- ``flat`` 0.20: a plain 4 m floor at z = 0, so walking on the flat is not lost. + +Riser height ``h`` is drawn per tile uniformly from (10, 25) mm, the band the +single-step fork gained on (maker's rough stairs top out at 15 mm). The top of a +3-step flight is therefore 30 to 75 mm above the floor, about 0.26 to 0.64 of +the Microduck's 117 mm trunk height. The tread (0.25 m) is the maker's rough +stairs tread (0.15 m) stretched to about one stride; the policy has no terrain +scan, it meets every riser blind. + +How the flights are built: mjlab's ``BoxPyramidStairsTerrainCfg``. It builds +``num_steps = int((size - 2*border - platform_width) / (2*step_width))`` +concentric steps and a centre box, so the flight has ``num_steps + 1`` risers +(``num_steps = 0`` is the 09z3 single step) and the centre box top is +``(num_steps + 1) * h`` above the border frame at z = 0. ``platform_width`` is +only used in that count, so each tile passes the value that lands the quotient at +``num_steps + 0.5`` (never an exact integer, no float edge) and the real +platform is ``size - 2*border - 2*num_steps*step_width``. Between two +neighbouring tiles there is 1.0 m of flat floor (border 0.5 m on each side). + +Height reads: the env origin sits on the platform top (``(num_steps + 1) * h``), +so any read of ``root_z - env_origin_z`` is off 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, which covers box stairs and +hills alike (09z3, 09z5 and 09z7 already ran on both). + +Verdict overrides (read at import, i.e. at process start): ``MICRODUCK_STEP_HEIGHT=lo,hi`` +(riser height of stairs AND single steps, metres), ``MICRODUCK_SLOPE``, +``MICRODUCK_FOOT_FRICTION``, ``MICRODUCK_PUSH_SCALE``, ``MICRODUCK_PUSH_INTERVAL`` +(these five are imported from the single-condition modules and work here unchanged), +and ``MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5`` (this module): replaces the tile +shares, tile types not named get share 0. A 1-env play take lands on one random tile, +so a stairs verdict forces the mix to flights only (a take on a flat or hill tile would +dilute it); ``flat:1`` gives a flat-floor control on the same generator. +""" + +import os + +from copy import deepcopy + +import mjlab.terrains as terrain_gen +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 +from mjlab_microduck.tasks.witcheer_velocity_step_env_cfg import SINGLE_STEP_TERRAIN_CFG, _step_range +from mjlab_microduck.tasks.witcheer_velocity_slope_env_cfg import SLOPE_TERRAIN_CFG +from mjlab_microduck.tasks.witcheer_velocity_slip_env_cfg import _friction_range +from mjlab_microduck.tasks.witcheer_velocity_push_env_cfg import _push_scale, _push_interval + +TASK_ID = "Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck" + +TILE = 4.0 # m, same tile as the step/slope/mixslope forks +STAIR_BORDER = 0.5 # m of flat floor around a flight -> 1.0 m between neighbouring tiles +TREAD = 0.25 # m, depth of each step (maker's rough stairs 0.15) +SHARES = {"stairs2": 0.25, "stairs3": 0.25, "single_step": 0.15, "hill": 0.15, "flat": 0.20} + + +def _shares(): + v = os.environ.get("MICRODUCK_STAIRS_MIX") + if not v: + return SHARES + given = {k: float(x) for k, x in (kv.split(":") for kv in v.split(","))} + unknown = set(given) - set(SHARES) + if unknown: + raise ValueError(f"MICRODUCK_STAIRS_MIX names unknown tile types {sorted(unknown)}; known {sorted(SHARES)}") + return {k: given.get(k, 0.0) for k in SHARES} + + +def _stairs_tile(num_steps: int, proportion: float): + """A flight of ``num_steps + 1`` risers. platform_width lands the generator's step count at num_steps + 0.5 -> int() = num_steps.""" + inner = TILE - 2 * STAIR_BORDER + platform_param = inner - 2 * TREAD * (num_steps + 0.5) + return terrain_gen.BoxPyramidStairsTerrainCfg( + proportion=proportion, + step_height_range=_step_range(), + step_width=TREAD, + platform_width=platform_param, + border_width=STAIR_BORDER, + ) + + +def _stairs_terrain_cfg(): + sh = _shares() + t = deepcopy(SINGLE_STEP_TERRAIN_CFG) + single = deepcopy(SINGLE_STEP_TERRAIN_CFG.sub_terrains["single_step"]) + hill = deepcopy(SLOPE_TERRAIN_CFG.sub_terrains["hill"]) + single.proportion = sh["single_step"] + hill.proportion = sh["hill"] + t.sub_terrains = { + "stairs2": _stairs_tile(1, sh["stairs2"]), + "stairs3": _stairs_tile(2, sh["stairs3"]), + "single_step": single, + "hill": hill, + "flat": terrain_gen.BoxFlatTerrainCfg(proportion=sh["flat"]), + } + return t + + +def make_witcheer_velocity_stairs_env_cfg(play: bool = False): + cfg = make_microduck_velocity_env_cfg(play=play) + cfg.scene.terrain.terrain_type = "generator" + cfg.scene.terrain.terrain_generator = _stairs_terrain_cfg() + cfg.events["foot_friction"].params["ranges"] = _friction_range() + push = cfg.events["push_robot"] + s = _push_scale() + push.params["velocity_range"] = {k: (lo * s, hi * s) for k, (lo, hi) in push.params["velocity_range"].items()} + iv = _push_interval() + if iv is not None: + push.interval_range_s = iv + return make_backlash_variant(cfg, MICRODUCK_WALK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_velocity_stairs_env_cfg(), + play_env_cfg=make_witcheer_velocity_stairs_env_cfg(play=True), + rl_cfg=MicroduckRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-01j-walk-stairs/patches/witcheer_velocity_step_env_cfg.py b/level-01j-walk-stairs/patches/witcheer_velocity_step_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..d21e4e4e48e8b6d8653e172ceb7b6a01885b002c --- /dev/null +++ b/level-01j-walk-stairs/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-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..b4d38a816c1f696e812fb9c5cfec2a5d28af671b --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.869,-18.390,+0.180) +[headless_play] t= 0.00s step= 0 trunk_z= 127.2mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.40s step= 120 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.60s step= 130 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 3.50s step= 175 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(-0.00,+0.01,-1.00) r=0.41m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 117.3mm grav_b=(-0.07,+0.02,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(-0.09,-0.01,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(-0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 113.4mm grav_b=(+0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 4.20s step= 210 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(-0.00,+0.02,-1.00) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 116.8mm grav_b=(+0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 117.0mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 4.70s step= 235 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 117.1mm grav_b=(-0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(-0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 119.3mm grav_b=(-0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 121.2mm grav_b=(-0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 5.40s step= 270 trunk_z= 120.9mm grav_b=(-0.01,-0.08,-1.00) r=0.48m +[headless_play] t= 5.50s step= 275 trunk_z= 120.2mm grav_b=(+0.00,+0.00,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 120.6mm grav_b=(-0.02,+0.04,-1.00) r=0.47m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(-0.05,-0.11,-0.99) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 119.0mm grav_b=(-0.03,+0.05,-1.00) r=0.45m +[headless_play] t= 5.90s step= 295 trunk_z= 119.4mm grav_b=(-0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 6.00s step= 300 trunk_z= 119.3mm grav_b=(-0.06,-0.08,-1.00) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 124.4mm grav_b=(-0.03,-0.04,-1.00) r=0.42m +[headless_play] t= 6.20s step= 310 trunk_z= 119.5mm grav_b=(+0.00,+0.10,-0.99) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 120.1mm grav_b=(-0.05,-0.04,-1.00) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 119.8mm grav_b=(-0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 6.50s step= 325 trunk_z= 120.4mm grav_b=(-0.00,+0.04,-1.00) r=0.37m +[headless_play] t= 6.60s step= 330 trunk_z= 117.2mm grav_b=(-0.03,-0.11,-0.99) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 118.5mm grav_b=(-0.03,+0.08,-1.00) r=0.35m +[headless_play] t= 6.80s step= 340 trunk_z= 119.0mm grav_b=(-0.06,-0.03,-1.00) r=0.35m +[headless_play] t= 6.90s step= 345 trunk_z= 119.2mm grav_b=(-0.03,-0.01,-1.00) r=0.34m +[headless_play] t= 7.00s step= 350 trunk_z= 118.9mm grav_b=(-0.03,+0.01,-1.00) r=0.33m +[headless_play] t= 7.10s step= 355 trunk_z= 118.2mm grav_b=(-0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 7.20s step= 360 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.32m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(-0.04,+0.01,-1.00) r=0.31m +[headless_play] t= 7.40s step= 370 trunk_z= 118.5mm grav_b=(-0.03,+0.04,-1.00) r=0.31m +[headless_play] t= 7.50s step= 375 trunk_z= 118.8mm grav_b=(-0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 7.60s step= 380 trunk_z= 118.2mm grav_b=(-0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 7.70s step= 385 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 7.90s step= 395 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.00s step= 400 trunk_z= 118.5mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.10s step= 405 trunk_z= 118.7mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.20s step= 410 trunk_z= 118.7mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.30s step= 415 trunk_z= 118.9mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.40s step= 420 trunk_z= 118.8mm grav_b=(-0.03,+0.01,-1.00) r=0.31m +[headless_play] t= 8.50s step= 425 trunk_z= 118.9mm grav_b=(-0.03,+0.00,-1.00) r=0.31m +[headless_play] t= 8.60s step= 430 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00) r=0.31m +[headless_play] t= 8.70s step= 435 trunk_z= 118.9mm grav_b=(-0.01,+0.01,-1.00) r=0.30m +[headless_play] t= 8.80s step= 440 trunk_z= 117.6mm grav_b=(-0.03,+0.02,-1.00) r=0.30m +[headless_play] t= 8.90s step= 445 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 9.00s step= 450 trunk_z= 118.1mm grav_b=(-0.02,+0.07,-1.00) r=0.30m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(-0.02,-0.05,-1.00) r=0.30m +[headless_play] t= 9.20s step= 460 trunk_z= 117.4mm grav_b=(-0.04,+0.10,-0.99) r=0.29m +[headless_play] t= 9.30s step= 465 trunk_z= 116.9mm grav_b=(-0.07,-0.01,-1.00) r=0.29m +[headless_play] t= 9.40s step= 470 trunk_z= 118.3mm grav_b=(-0.04,+0.04,-1.00) r=0.29m +[headless_play] t= 9.50s step= 475 trunk_z= 119.2mm grav_b=(+0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 9.60s step= 480 trunk_z= 122.1mm grav_b=(+0.11,+0.07,-0.99) r=0.30m +[headless_play] t= 9.70s step= 485 trunk_z= 116.3mm grav_b=(+0.05,+0.05,-1.00) r=0.31m +[headless_play] t= 9.80s step= 490 trunk_z= 105.5mm grav_b=(-0.07,-0.08,-0.99) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 111.7mm grav_b=(-0.07,+0.13,-0.99) r=0.34m +[headless_play] t= 10.00s step= 500 trunk_z= 121.5mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 124.5mm grav_b=(-0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(-0.07,+0.13,-0.99) r=0.39m +[headless_play] t= 10.30s step= 515 trunk_z= 115.0mm grav_b=(-0.13,-0.03,-0.99) r=0.40m +[headless_play] t= 10.40s step= 520 trunk_z= 116.4mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 10.50s step= 525 trunk_z= 115.9mm grav_b=(-0.02,-0.07,-1.00) r=0.43m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(+0.02,+0.04,-1.00) r=0.44m +[headless_play] t= 10.70s step= 535 trunk_z= 112.3mm grav_b=(-0.03,+0.16,-0.99) r=0.45m +[headless_play] t= 10.80s step= 540 trunk_z= 116.0mm grav_b=(-0.06,+0.03,-1.00) r=0.45m +[headless_play] t= 10.90s step= 545 trunk_z= 118.8mm grav_b=(-0.00,-0.04,-1.00) r=0.45m +[headless_play] t= 11.00s step= 550 trunk_z= 114.0mm grav_b=(-0.00,+0.16,-0.99) r=0.46m +[headless_play] t= 11.10s step= 555 trunk_z= 115.2mm grav_b=(+0.01,+0.08,-1.00) r=0.46m +[headless_play] t= 11.20s step= 560 trunk_z= 112.5mm grav_b=(+0.07,-0.02,-1.00) r=0.46m +[headless_play] t= 11.30s step= 565 trunk_z= 112.5mm grav_b=(+0.09,+0.00,-1.00) r=0.46m +[headless_play] t= 11.40s step= 570 trunk_z= 114.7mm grav_b=(+0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 11.50s step= 575 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 11.80s step= 590 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.10s step= 605 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.60s step= 630 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 12.90s step= 645 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 13.20s step= 660 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 13.50s step= 675 trunk_z= 117.7mm grav_b=(+0.07,+0.03,-1.00) r=0.52m +[headless_play] t= 13.60s step= 680 trunk_z= 119.9mm grav_b=(+0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 13.70s step= 685 trunk_z= 120.3mm grav_b=(+0.06,-0.01,-1.00) r=0.58m +[headless_play] t= 13.80s step= 690 trunk_z= 119.1mm grav_b=(-0.05,+0.11,-0.99) r=0.60m +[headless_play] t= 13.90s step= 695 trunk_z= 114.7mm grav_b=(-0.11,+0.08,-0.99) r=0.62m +[headless_play] t= 14.00s step= 700 trunk_z= 115.7mm grav_b=(-0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(+0.02,+0.03,-1.00) r=0.63m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(+0.02,+0.03,-1.00) r=0.63m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(-0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 14.40s step= 720 trunk_z= 116.7mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 14.60s step= 730 trunk_z= 116.7mm grav_b=(-0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 14.70s step= 735 trunk_z= 117.1mm grav_b=(-0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 14.80s step= 740 trunk_z= 117.1mm grav_b=(-0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.10s step= 755 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.20s step= 760 trunk_z= 117.3mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.30s step= 765 trunk_z= 117.4mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.40s step= 770 trunk_z= 117.4mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.01,+0.03,-1.00) r=0.63m +[headless_play] t= 15.80s step= 790 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.10s step= 805 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.30s step= 815 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.50s step= 825 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 16.90s step= 845 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.00s step= 850 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.10s step= 855 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.40s step= 870 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.62m +[headless_play] t= 17.60s step= 880 trunk_z= 117.5mm grav_b=(-0.02,+0.02,-1.00) r=0.64m +[headless_play] t= 17.70s step= 885 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00) r=0.65m +[headless_play] t= 17.80s step= 890 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 17.90s step= 895 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=0.65m +[headless_play] t= 18.00s step= 900 trunk_z= 117.6mm grav_b=(+0.04,+0.02,-1.00) r=0.65m +[headless_play] t= 18.10s step= 905 trunk_z= 117.6mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(+0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(+0.02,+0.02,-1.00) r=0.65m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 18.60s step= 930 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 18.90s step= 945 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.30s step= 965 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.40s step= 970 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.50s step= 975 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] t= 19.90s step= 995 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00) r=0.65m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..58287eff99a6bb0c47a57ebe8956aec9894ac60a --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.288,-18.161,+0.178) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.05,+0.03,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 120.9mm grav_b=(-0.05,+0.04,-1.00) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(-0.05,+0.03,-1.00) r=0.32m +[headless_play] t= 0.40s step= 20 trunk_z= 120.8mm grav_b=(-0.04,+0.06,-1.00) r=0.32m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(-0.06,-0.02,-1.00) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 118.8mm grav_b=(-0.09,+0.04,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 120.2mm grav_b=(-0.07,+0.03,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 118.9mm grav_b=(-0.08,+0.01,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 119.6mm grav_b=(-0.08,+0.07,-0.99) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.10,-0.03,-0.99) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 118.7mm grav_b=(-0.09,+0.05,-0.99) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 120.2mm grav_b=(-0.06,+0.01,-1.00) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 119.3mm grav_b=(-0.09,-0.05,-0.99) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 119.4mm grav_b=(-0.09,+0.09,-0.99) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 119.5mm grav_b=(-0.09,-0.04,-1.00) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 120.7mm grav_b=(-0.10,-0.07,-0.99) r=0.25m +[headless_play] t= 1.70s step= 85 trunk_z= 119.7mm grav_b=(-0.09,+0.09,-0.99) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 119.1mm grav_b=(-0.08,-0.03,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 119.1mm grav_b=(-0.07,+0.07,-1.00) r=0.23m +[headless_play] t= 2.00s step= 100 trunk_z= 117.9mm grav_b=(-0.10,-0.03,-0.99) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(-0.08,+0.04,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 121.3mm grav_b=(-0.07,+0.03,-1.00) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 119.7mm grav_b=(-0.07,+0.02,-1.00) r=0.23m +[headless_play] t= 2.40s step= 120 trunk_z= 120.5mm grav_b=(-0.09,+0.05,-0.99) r=0.23m +[headless_play] t= 2.50s step= 125 trunk_z= 122.2mm grav_b=(-0.09,+0.03,-1.00) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 121.1mm grav_b=(-0.08,+0.05,-1.00) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 121.4mm grav_b=(-0.08,+0.05,-1.00) r=0.23m +[headless_play] t= 2.80s step= 140 trunk_z= 120.6mm grav_b=(-0.06,+0.06,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 120.4mm grav_b=(-0.06,+0.04,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 118.0mm grav_b=(-0.10,-0.05,-0.99) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(-0.08,+0.08,-0.99) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 118.3mm grav_b=(-0.09,-0.01,-1.00) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 117.9mm grav_b=(-0.11,-0.09,-0.99) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 118.7mm grav_b=(-0.09,+0.09,-0.99) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 114.8mm grav_b=(-0.18,-0.08,-0.98) r=0.13m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.11,+0.00,-0.99) r=0.11m +[headless_play] t= 3.70s step= 185 trunk_z= 115.4mm grav_b=(-0.12,+0.07,-0.99) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 115.5mm grav_b=(-0.13,-0.12,-0.98) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.06,+0.00,-1.00) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(-0.09,+0.09,-0.99) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(-0.17,-0.06,-0.98) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 119.2mm grav_b=(-0.11,-0.04,-0.99) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(-0.08,+0.10,-0.99) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 116.9mm grav_b=(-0.11,-0.07,-0.99) r=0.09m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.10,+0.02,-0.99) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 118.6mm grav_b=(-0.09,+0.04,-0.99) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 118.8mm grav_b=(-0.10,-0.08,-0.99) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 118.8mm grav_b=(-0.08,+0.06,-0.99) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(-0.08,+0.08,-0.99) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(-0.13,-0.02,-0.99) r=0.11m +[headless_play] t= 5.10s step= 255 trunk_z= 120.8mm grav_b=(-0.11,-0.01,-0.99) r=0.11m +[headless_play] t= 5.20s step= 260 trunk_z= 120.9mm grav_b=(-0.09,+0.09,-0.99) r=0.12m +[headless_play] t= 5.30s step= 265 trunk_z= 120.2mm grav_b=(-0.10,-0.01,-0.99) r=0.12m +[headless_play] t= 5.40s step= 270 trunk_z= 121.7mm grav_b=(-0.08,-0.06,-1.00) r=0.13m +[headless_play] t= 5.50s step= 275 trunk_z= 117.3mm grav_b=(-0.04,+0.06,-1.00) r=0.13m +[headless_play] t= 5.60s step= 280 trunk_z= 123.7mm grav_b=(-0.07,+0.09,-0.99) r=0.13m +[headless_play] t= 5.70s step= 285 trunk_z= 120.4mm grav_b=(-0.08,-0.05,-1.00) r=0.13m +[headless_play] t= 5.80s step= 290 trunk_z= 119.8mm grav_b=(-0.07,-0.01,-1.00) r=0.14m +[headless_play] t= 5.90s step= 295 trunk_z= 119.1mm grav_b=(-0.07,+0.10,-0.99) r=0.13m +[headless_play] t= 6.00s step= 300 trunk_z= 122.2mm grav_b=(-0.04,+0.04,-1.00) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 121.0mm grav_b=(-0.06,-0.08,-0.99) r=0.13m +[headless_play] t= 6.20s step= 310 trunk_z= 118.7mm grav_b=(-0.05,+0.01,-1.00) r=0.14m +[headless_play] t= 6.30s step= 315 trunk_z= 122.0mm grav_b=(-0.07,+0.09,-0.99) r=0.13m +[headless_play] t= 6.40s step= 320 trunk_z= 118.8mm grav_b=(-0.06,-0.06,-1.00) r=0.14m +[headless_play] t= 6.50s step= 325 trunk_z= 120.5mm grav_b=(-0.07,-0.05,-1.00) r=0.14m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(-0.06,+0.08,-0.99) r=0.14m +[headless_play] t= 6.70s step= 335 trunk_z= 121.8mm grav_b=(-0.06,+0.05,-1.00) r=0.14m +[headless_play] t= 6.80s step= 340 trunk_z= 120.5mm grav_b=(-0.06,-0.07,-1.00) r=0.15m +[headless_play] t= 6.90s step= 345 trunk_z= 118.3mm grav_b=(-0.05,+0.05,-1.00) r=0.15m +[headless_play] t= 7.00s step= 350 trunk_z= 122.3mm grav_b=(-0.06,+0.09,-0.99) r=0.15m +[headless_play] t= 7.10s step= 355 trunk_z= 118.8mm grav_b=(-0.07,-0.09,-0.99) r=0.16m +[headless_play] t= 7.20s step= 360 trunk_z= 116.1mm grav_b=(-0.13,+0.09,-0.99) r=0.12m +[headless_play] t= 7.30s step= 365 trunk_z= 123.8mm grav_b=(-0.17,+0.16,-0.97) r=0.09m +[headless_play] t= 7.40s step= 370 trunk_z= 122.8mm grav_b=(-0.10,+0.03,-0.99) r=0.08m +[headless_play] t= 7.50s step= 375 trunk_z= 111.9mm grav_b=(-0.00,-0.05,-1.00) r=0.06m +[headless_play] t= 7.60s step= 380 trunk_z= 106.7mm grav_b=(+0.06,+0.06,-1.00) r=0.05m +[headless_play] t= 7.70s step= 385 trunk_z= 121.7mm grav_b=(-0.05,-0.01,-1.00) r=0.05m +[headless_play] t= 7.80s step= 390 trunk_z= 119.1mm grav_b=(-0.09,-0.14,-0.99) r=0.06m +[headless_play] t= 7.90s step= 395 trunk_z= 119.5mm grav_b=(-0.13,+0.01,-0.99) r=0.07m +[headless_play] t= 8.00s step= 400 trunk_z= 121.9mm grav_b=(-0.04,+0.10,-0.99) r=0.09m +[headless_play] t= 8.10s step= 405 trunk_z= 117.6mm grav_b=(-0.05,-0.04,-1.00) r=0.10m +[headless_play] t= 8.20s step= 410 trunk_z= 120.0mm grav_b=(-0.08,-0.06,-1.00) r=0.11m +[headless_play] t= 8.30s step= 415 trunk_z= 115.6mm grav_b=(-0.03,+0.08,-1.00) r=0.12m +[headless_play] t= 8.40s step= 420 trunk_z= 120.3mm grav_b=(-0.00,+0.05,-1.00) r=0.13m +[headless_play] t= 8.50s step= 425 trunk_z= 119.3mm grav_b=(-0.06,-0.13,-0.99) r=0.14m +[headless_play] t= 8.60s step= 430 trunk_z= 120.8mm grav_b=(-0.09,-0.02,-1.00) r=0.14m +[headless_play] t= 8.70s step= 435 trunk_z= 120.6mm grav_b=(-0.08,+0.11,-0.99) r=0.15m +[headless_play] t= 8.80s step= 440 trunk_z= 119.0mm grav_b=(-0.06,-0.03,-1.00) r=0.16m +[headless_play] t= 8.90s step= 445 trunk_z= 119.1mm grav_b=(-0.08,-0.06,-1.00) r=0.17m +[headless_play] t= 9.00s step= 450 trunk_z= 114.1mm grav_b=(-0.03,+0.10,-0.99) r=0.18m +[headless_play] t= 9.10s step= 455 trunk_z= 118.2mm grav_b=(-0.02,+0.03,-1.00) r=0.19m +[headless_play] t= 9.20s step= 460 trunk_z= 120.2mm grav_b=(-0.07,-0.12,-0.99) r=0.20m +[headless_play] t= 9.30s step= 465 trunk_z= 118.6mm grav_b=(-0.05,-0.03,-1.00) r=0.21m +[headless_play] t= 9.40s step= 470 trunk_z= 119.1mm grav_b=(-0.06,+0.10,-0.99) r=0.22m +[headless_play] t= 9.50s step= 475 trunk_z= 115.2mm grav_b=(-0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 9.60s step= 480 trunk_z= 115.3mm grav_b=(+0.00,-0.00,-1.00) r=0.23m +[headless_play] t= 9.70s step= 485 trunk_z= 115.9mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 9.80s step= 490 trunk_z= 116.3mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(-0.06,-0.00,-1.00) r=0.22m +[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(-0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 10.20s step= 510 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.30s step= 515 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.50s step= 525 trunk_z= 116.8mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.60s step= 530 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.70s step= 535 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.80s step= 540 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 10.90s step= 545 trunk_z= 117.0mm grav_b=(-0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.04,-0.00,-1.00) r=0.23m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(+0.00,-0.00,-1.00) r=0.24m +[headless_play] t= 11.20s step= 560 trunk_z= 118.0mm grav_b=(-0.02,+0.01,-1.00) r=0.24m +[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.06,+0.03,-1.00) r=0.24m +[headless_play] t= 11.40s step= 570 trunk_z= 116.9mm grav_b=(-0.09,+0.01,-1.00) r=0.24m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(-0.07,+0.00,-1.00) r=0.24m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 11.70s step= 585 trunk_z= 117.7mm grav_b=(-0.04,+0.01,-1.00) r=0.25m +[headless_play] t= 11.80s step= 590 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.00s step= 600 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.10s step= 605 trunk_z= 117.8mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.20s step= 610 trunk_z= 117.8mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.30s step= 615 trunk_z= 117.8mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.40s step= 620 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 12.50s step= 625 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.25m +[headless_play] t= 12.60s step= 630 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 12.70s step= 635 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 12.80s step= 640 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.06,+0.00,-1.00) r=0.25m +[headless_play] t= 13.20s step= 660 trunk_z= 117.4mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 13.30s step= 665 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 13.40s step= 670 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 13.60s step= 680 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 13.70s step= 685 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 13.90s step= 695 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.00s step= 700 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=0.25m +[headless_play] t= 14.10s step= 705 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(-0.05,+0.01,-1.00) r=0.25m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(-0.10,+0.00,-1.00) r=0.20m +[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(-0.23,+0.01,-0.97) r=0.15m +[headless_play] t= 15.30s step= 765 trunk_z= 101.8mm grav_b=(-0.28,+0.02,-0.96) r=0.12m +[headless_play] t= 15.40s step= 770 trunk_z= 61.5mm grav_b=(-0.22,-0.04,-0.98) r=0.09m +[headless_play] t= 15.50s step= 775 trunk_z= 76.7mm grav_b=(-0.31,-0.22,-0.93) r=0.09m +[headless_play] t= 15.60s step= 780 trunk_z= 89.5mm grav_b=(-0.55,-0.08,-0.83) r=0.10m +[headless_play] t= 15.70s step= 785 trunk_z= 70.5mm grav_b=(-0.52,-0.66,-0.54) r=0.12m +[headless_play] RESET at t= 15.74s step= 787 (env termination, not a recovery) +[headless_play] t= 15.80s step= 790 trunk_z= 114.7mm grav_b=(-0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 15.90s step= 795 trunk_z= 117.7mm grav_b=(-0.04,+0.09,-1.00) r=0.36m +[headless_play] t= 16.00s step= 800 trunk_z= 119.4mm grav_b=(-0.08,+0.03,-1.00) r=0.38m +[headless_play] t= 16.10s step= 805 trunk_z= 118.0mm grav_b=(-0.10,-0.10,-0.99) r=0.39m +[headless_play] t= 16.20s step= 810 trunk_z= 114.6mm grav_b=(-0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 16.30s step= 815 trunk_z= 115.0mm grav_b=(-0.04,+0.05,-1.00) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 114.2mm grav_b=(-0.06,-0.12,-0.99) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 114.0mm grav_b=(-0.04,+0.00,-1.00) r=0.44m +[headless_play] t= 16.60s step= 830 trunk_z= 114.6mm grav_b=(-0.05,+0.08,-1.00) r=0.45m +[headless_play] t= 16.70s step= 835 trunk_z= 113.2mm grav_b=(-0.06,-0.11,-0.99) r=0.46m +[headless_play] t= 16.80s step= 840 trunk_z= 113.1mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 16.90s step= 845 trunk_z= 113.2mm grav_b=(-0.06,+0.08,-0.99) r=0.49m +[headless_play] t= 17.00s step= 850 trunk_z= 112.2mm grav_b=(-0.03,-0.11,-0.99) r=0.50m +[headless_play] t= 17.10s step= 855 trunk_z= 113.6mm grav_b=(-0.03,-0.05,-1.00) r=0.51m +[headless_play] t= 17.20s step= 860 trunk_z= 114.5mm grav_b=(-0.08,+0.11,-0.99) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(-0.07,-0.04,-1.00) r=0.53m +[headless_play] t= 17.40s step= 870 trunk_z= 115.6mm grav_b=(-0.05,-0.08,-1.00) r=0.53m +[headless_play] t= 17.50s step= 875 trunk_z= 114.4mm grav_b=(-0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(-0.03,+0.05,-1.00) r=0.56m +[headless_play] t= 17.70s step= 885 trunk_z= 114.0mm grav_b=(-0.03,-0.12,-0.99) r=0.58m +[headless_play] t= 17.80s step= 890 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 17.90s step= 895 trunk_z= 116.3mm grav_b=(-0.07,+0.11,-0.99) r=0.61m +[headless_play] t= 18.00s step= 900 trunk_z= 114.0mm grav_b=(-0.08,-0.11,-0.99) r=0.62m +[headless_play] t= 18.10s step= 905 trunk_z= 114.9mm grav_b=(-0.04,-0.03,-1.00) r=0.63m +[headless_play] t= 18.20s step= 910 trunk_z= 115.1mm grav_b=(-0.07,+0.08,-0.99) r=0.65m +[headless_play] t= 18.30s step= 915 trunk_z= 114.2mm grav_b=(-0.03,-0.08,-1.00) r=0.66m +[headless_play] t= 18.40s step= 920 trunk_z= 112.2mm grav_b=(-0.02,-0.05,-1.00) r=0.67m +[headless_play] t= 18.50s step= 925 trunk_z= 112.6mm grav_b=(-0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 18.60s step= 930 trunk_z= 115.4mm grav_b=(-0.03,-0.00,-1.00) r=0.70m +[headless_play] t= 18.70s step= 935 trunk_z= 112.7mm grav_b=(-0.02,-0.09,-1.00) r=0.71m +[headless_play] t= 18.80s step= 940 trunk_z= 112.0mm grav_b=(-0.05,+0.08,-1.00) r=0.73m +[headless_play] t= 18.90s step= 945 trunk_z= 114.7mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 19.00s step= 950 trunk_z= 115.1mm grav_b=(-0.05,-0.10,-0.99) r=0.74m +[headless_play] t= 19.10s step= 955 trunk_z= 114.5mm grav_b=(-0.09,+0.05,-0.99) r=0.73m +[headless_play] t= 19.20s step= 960 trunk_z= 113.8mm grav_b=(-0.07,-0.01,-1.00) r=0.74m +[headless_play] t= 19.30s step= 965 trunk_z= 112.2mm grav_b=(-0.06,-0.08,-1.00) r=0.74m +[headless_play] t= 19.40s step= 970 trunk_z= 111.3mm grav_b=(-0.01,+0.05,-1.00) r=0.75m +[headless_play] t= 19.50s step= 975 trunk_z= 112.3mm grav_b=(-0.00,+0.04,-1.00) r=0.77m +[headless_play] t= 19.60s step= 980 trunk_z= 112.4mm grav_b=(-0.06,-0.11,-0.99) r=0.78m +[headless_play] t= 19.70s step= 985 trunk_z= 113.1mm grav_b=(-0.03,+0.03,-1.00) r=0.79m +[headless_play] t= 19.80s step= 990 trunk_z= 113.9mm grav_b=(-0.04,+0.05,-1.00) r=0.81m +[headless_play] t= 19.90s step= 995 trunk_z= 113.4mm grav_b=(-0.08,-0.08,-0.99) r=0.82m +[headless_play] t= 20.00s step=1000 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) r=0.83m +[headless_play] t= 20.10s step=1005 trunk_z= 113.2mm grav_b=(-0.01,+0.06,-1.00) r=0.84m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..bab708fa96268568bfa3bdaa5588f31b46790755 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.008,-18.494,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.1mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.04,+0.04,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(-0.02,+0.04,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 115.3mm grav_b=(-0.06,-0.04,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 114.8mm grav_b=(-0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 113.4mm grav_b=(-0.05,+0.08,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 114.6mm grav_b=(-0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 110.5mm grav_b=(-0.01,-0.05,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 111.4mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 108.1mm grav_b=(+0.02,+0.10,-0.99) r=0.50m +[headless_play] t= 1.00s step= 50 trunk_z= 112.9mm grav_b=(-0.03,+0.04,-1.00) r=0.50m +[headless_play] t= 1.10s step= 55 trunk_z= 110.9mm grav_b=(-0.06,-0.07,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 108.9mm grav_b=(+0.01,+0.09,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 110.8mm grav_b=(+0.00,+0.06,-1.00) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 112.3mm grav_b=(-0.05,-0.04,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 113.0mm grav_b=(-0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 105.4mm grav_b=(+0.06,+0.09,-0.99) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 115.2mm grav_b=(-0.05,+0.02,-1.00) r=0.50m +[headless_play] t= 1.80s step= 90 trunk_z= 111.8mm grav_b=(-0.05,-0.08,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(-0.02,-0.03,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 108.7mm grav_b=(+0.06,+0.09,-0.99) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(-0.05,+0.01,-1.00) r=0.48m +[headless_play] t= 2.20s step= 110 trunk_z= 111.7mm grav_b=(-0.04,-0.10,-0.99) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 111.6mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 2.40s step= 120 trunk_z= 111.4mm grav_b=(+0.01,+0.09,-1.00) r=0.48m +[headless_play] t= 2.50s step= 125 trunk_z= 114.5mm grav_b=(-0.05,+0.03,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 109.9mm grav_b=(-0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 110.5mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 2.80s step= 140 trunk_z= 110.7mm grav_b=(+0.04,+0.08,-1.00) r=0.47m +[headless_play] t= 2.90s step= 145 trunk_z= 114.9mm grav_b=(-0.04,+0.03,-1.00) r=0.47m +[headless_play] t= 3.00s step= 150 trunk_z= 113.0mm grav_b=(-0.08,-0.07,-0.99) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 111.4mm grav_b=(-0.02,+0.02,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(-0.01,+0.06,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(-0.06,+0.03,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 112.4mm grav_b=(-0.02,-0.03,-1.00) r=0.44m +[headless_play] t= 3.50s step= 175 trunk_z= 112.2mm grav_b=(+0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 109.8mm grav_b=(+0.01,+0.06,-1.00) r=0.43m +[headless_play] t= 3.70s step= 185 trunk_z= 113.4mm grav_b=(-0.04,+0.03,-1.00) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 110.5mm grav_b=(-0.04,-0.05,-1.00) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 111.4mm grav_b=(-0.04,+0.05,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 110.9mm grav_b=(-0.01,+0.05,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 112.3mm grav_b=(-0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 112.8mm grav_b=(-0.03,-0.06,-1.00) r=0.37m +[headless_play] t= 4.30s step= 215 trunk_z= 106.6mm grav_b=(+0.06,+0.09,-0.99) r=0.37m +[headless_play] t= 4.40s step= 220 trunk_z= 114.8mm grav_b=(-0.03,+0.02,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 112.1mm grav_b=(-0.05,-0.09,-1.00) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.03,-0.04,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 109.7mm grav_b=(+0.03,+0.07,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(-0.06,-0.01,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(-0.03,-0.08,-1.00) r=0.32m +[headless_play] t= 5.10s step= 255 trunk_z= 112.7mm grav_b=(+0.01,+0.00,-1.00) r=0.32m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(-0.00,+0.07,-1.00) r=0.32m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.00,-0.03,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 118.3mm grav_b=(-0.03,-0.09,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(-0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(+0.04,-0.05,-1.00) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 115.6mm grav_b=(+0.03,-0.06,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(-0.03,+0.11,-0.99) r=0.19m +[headless_play] t= 5.90s step= 295 trunk_z= 117.2mm grav_b=(-0.04,-0.04,-1.00) r=0.19m +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(-0.02,+0.03,-1.00) r=0.20m +[headless_play] t= 6.10s step= 305 trunk_z= 114.8mm grav_b=(-0.01,+0.04,-1.00) r=0.21m +[headless_play] t= 6.20s step= 310 trunk_z= 116.7mm grav_b=(-0.03,-0.05,-1.00) r=0.21m +[headless_play] t= 6.30s step= 315 trunk_z= 114.3mm grav_b=(-0.01,+0.04,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 116.2mm grav_b=(-0.01,+0.05,-1.00) r=0.24m +[headless_play] t= 6.50s step= 325 trunk_z= 115.4mm grav_b=(-0.03,-0.06,-1.00) r=0.25m +[headless_play] t= 6.60s step= 330 trunk_z= 116.5mm grav_b=(-0.04,-0.03,-1.00) r=0.26m +[headless_play] t= 6.70s step= 335 trunk_z= 112.7mm grav_b=(-0.01,+0.07,-1.00) r=0.27m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.28m +[headless_play] t= 6.90s step= 345 trunk_z= 116.7mm grav_b=(-0.04,-0.10,-0.99) r=0.30m +[headless_play] t= 7.00s step= 350 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=0.31m +[headless_play] t= 7.10s step= 355 trunk_z= 115.4mm grav_b=(-0.02,+0.05,-1.00) r=0.32m +[headless_play] t= 7.20s step= 360 trunk_z= 117.1mm grav_b=(-0.02,-0.03,-1.00) r=0.33m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(-0.03,-0.07,-1.00) r=0.35m +[headless_play] t= 7.40s step= 370 trunk_z= 112.7mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 7.50s step= 375 trunk_z= 117.0mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(-0.04,-0.06,-1.00) r=0.38m +[headless_play] t= 7.70s step= 385 trunk_z= 117.6mm grav_b=(-0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 7.80s step= 390 trunk_z= 111.0mm grav_b=(+0.00,+0.08,-1.00) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 118.2mm grav_b=(-0.01,+0.03,-1.00) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 118.0mm grav_b=(-0.06,-0.08,-1.00) r=0.43m +[headless_play] t= 8.10s step= 405 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 8.20s step= 410 trunk_z= 114.5mm grav_b=(-0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 8.30s step= 415 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 118.9mm grav_b=(-0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 8.50s step= 425 trunk_z= 112.6mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 117.3mm grav_b=(-0.01,+0.06,-1.00) r=0.49m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.05,-0.03,-1.00) r=0.50m +[headless_play] t= 8.80s step= 440 trunk_z= 119.7mm grav_b=(-0.07,-0.08,-0.99) r=0.51m +[headless_play] t= 8.90s step= 445 trunk_z= 113.3mm grav_b=(+0.01,+0.02,-1.00) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 118.1mm grav_b=(-0.03,+0.07,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 118.7mm grav_b=(-0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 119.1mm grav_b=(-0.04,-0.08,-1.00) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 118.4mm grav_b=(-0.03,-0.03,-1.00) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.01,+0.13,-0.99) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 120.3mm grav_b=(-0.02,+0.06,-1.00) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 117.0mm grav_b=(-0.03,-0.08,-1.00) r=0.60m +[headless_play] t= 9.70s step= 485 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(+0.02,+0.14,-0.99) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 122.4mm grav_b=(-0.04,+0.02,-1.00) r=0.64m +[headless_play] t= 10.00s step= 500 trunk_z= 122.2mm grav_b=(-0.06,-0.10,-0.99) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 115.4mm grav_b=(-0.03,+0.09,-1.00) r=0.68m +[headless_play] t= 10.20s step= 510 trunk_z= 119.7mm grav_b=(-0.02,+0.07,-1.00) r=0.69m +[headless_play] t= 10.30s step= 515 trunk_z= 117.7mm grav_b=(-0.04,-0.07,-1.00) r=0.70m +[headless_play] t= 10.40s step= 520 trunk_z= 119.7mm grav_b=(-0.05,-0.03,-1.00) r=0.72m +[headless_play] t= 10.50s step= 525 trunk_z= 115.6mm grav_b=(-0.02,+0.11,-0.99) r=0.73m +[headless_play] t= 10.60s step= 530 trunk_z= 116.3mm grav_b=(-0.06,-0.08,-1.00) r=0.74m +[headless_play] t= 10.70s step= 535 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00) r=0.75m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(-0.02,+0.07,-1.00) r=0.76m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(-0.03,-0.07,-1.00) r=0.78m +[headless_play] t= 11.00s step= 550 trunk_z= 116.1mm grav_b=(-0.02,+0.02,-1.00) r=0.80m +[headless_play] t= 11.10s step= 555 trunk_z= 117.2mm grav_b=(-0.02,+0.05,-1.00) r=0.81m +[headless_play] t= 11.20s step= 560 trunk_z= 116.9mm grav_b=(-0.05,-0.07,-1.00) r=0.82m +[headless_play] t= 11.30s step= 565 trunk_z= 118.1mm grav_b=(-0.04,-0.04,-1.00) r=0.83m +[headless_play] t= 11.40s step= 570 trunk_z= 116.6mm grav_b=(-0.02,+0.09,-1.00) r=0.84m +[headless_play] t= 11.50s step= 575 trunk_z= 119.6mm grav_b=(-0.04,-0.01,-1.00) r=0.85m +[headless_play] t= 11.60s step= 580 trunk_z= 121.0mm grav_b=(-0.07,-0.08,-0.99) r=0.87m +[headless_play] t= 11.70s step= 585 trunk_z= 114.2mm grav_b=(-0.00,+0.11,-0.99) r=0.88m +[headless_play] t= 11.80s step= 590 trunk_z= 120.8mm grav_b=(-0.02,+0.06,-1.00) r=0.89m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(-0.05,-0.08,-1.00) r=0.91m +[headless_play] t= 12.00s step= 600 trunk_z= 120.9mm grav_b=(-0.06,-0.06,-1.00) r=0.92m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(-0.00,+0.13,-0.99) r=0.91m +[headless_play] t= 12.20s step= 610 trunk_z= 121.2mm grav_b=(+0.01,-0.03,-1.00) r=0.92m +[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(-0.03,-0.14,-0.99) r=0.93m +[headless_play] t= 12.40s step= 620 trunk_z= 123.5mm grav_b=(-0.03,-0.06,-1.00) r=0.93m +[headless_play] t= 12.50s step= 625 trunk_z= 118.2mm grav_b=(-0.08,+0.05,-1.00) r=0.93m +[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(-0.12,-0.07,-0.99) r=0.94m +[headless_play] t= 12.70s step= 635 trunk_z= 117.4mm grav_b=(-0.07,+0.07,-0.99) r=0.94m +[headless_play] t= 12.80s step= 640 trunk_z= 118.2mm grav_b=(-0.06,+0.01,-1.00) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(-0.04,-0.04,-1.00) r=0.96m +[headless_play] t= 13.00s step= 650 trunk_z= 115.0mm grav_b=(-0.05,+0.09,-0.99) r=0.97m +[headless_play] t= 13.10s step= 655 trunk_z= 116.2mm grav_b=(-0.07,-0.01,-1.00) r=0.97m +[headless_play] t= 13.20s step= 660 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.98m +[headless_play] t= 13.30s step= 665 trunk_z= 118.8mm grav_b=(-0.09,+0.05,-0.99) r=0.98m +[headless_play] t= 13.40s step= 670 trunk_z= 118.9mm grav_b=(-0.09,+0.04,-1.00) r=0.98m +[headless_play] t= 13.50s step= 675 trunk_z= 118.6mm grav_b=(-0.10,+0.01,-0.99) r=0.98m +[headless_play] t= 13.60s step= 680 trunk_z= 118.6mm grav_b=(-0.11,+0.04,-0.99) r=0.98m +[headless_play] t= 13.70s step= 685 trunk_z= 118.9mm grav_b=(-0.10,+0.04,-0.99) r=0.98m +[headless_play] t= 13.80s step= 690 trunk_z= 119.5mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 13.90s step= 695 trunk_z= 119.0mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.00s step= 700 trunk_z= 119.2mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.10s step= 705 trunk_z= 119.2mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.20s step= 710 trunk_z= 119.3mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.40s step= 720 trunk_z= 119.4mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.50s step= 725 trunk_z= 119.3mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.60s step= 730 trunk_z= 119.5mm grav_b=(-0.09,+0.04,-1.00) r=0.98m +[headless_play] t= 14.70s step= 735 trunk_z= 119.7mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(-0.11,+0.03,-0.99) r=0.98m +[headless_play] t= 14.90s step= 745 trunk_z= 119.3mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 15.00s step= 750 trunk_z= 119.6mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 15.10s step= 755 trunk_z= 119.4mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 15.20s step= 760 trunk_z= 119.5mm grav_b=(-0.10,+0.03,-0.99) r=0.98m +[headless_play] t= 15.30s step= 765 trunk_z= 119.1mm grav_b=(-0.09,+0.05,-0.99) r=0.99m +[headless_play] t= 15.40s step= 770 trunk_z= 118.7mm grav_b=(-0.04,+0.06,-1.00) r=0.99m +[headless_play] t= 15.50s step= 775 trunk_z= 118.2mm grav_b=(-0.08,-0.06,-1.00) r=1.01m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.10,+0.01,-0.99) r=1.02m +[headless_play] t= 15.70s step= 785 trunk_z= 116.6mm grav_b=(-0.02,+0.05,-1.00) r=1.03m +[headless_play] t= 15.80s step= 790 trunk_z= 118.4mm grav_b=(+0.00,-0.10,-0.99) r=1.05m +[headless_play] t= 15.90s step= 795 trunk_z= 121.5mm grav_b=(-0.01,-0.01,-1.00) r=1.06m +[headless_play] t= 16.00s step= 800 trunk_z= 116.8mm grav_b=(-0.07,+0.02,-1.00) r=1.08m +[headless_play] t= 16.10s step= 805 trunk_z= 115.8mm grav_b=(-0.11,-0.09,-0.99) r=1.09m +[headless_play] t= 16.20s step= 810 trunk_z= 120.7mm grav_b=(-0.08,-0.09,-0.99) r=1.10m +[headless_play] t= 16.30s step= 815 trunk_z= 116.3mm grav_b=(-0.04,-0.01,-1.00) r=1.10m +[headless_play] t= 16.40s step= 820 trunk_z= 116.4mm grav_b=(-0.03,+0.04,-1.00) r=1.10m +[headless_play] t= 16.50s step= 825 trunk_z= 116.0mm grav_b=(-0.02,+0.01,-1.00) r=1.11m +[headless_play] t= 16.60s step= 830 trunk_z= 110.1mm grav_b=(-0.03,-0.05,-1.00) r=1.11m +[headless_play] t= 16.70s step= 835 trunk_z= 111.2mm grav_b=(-0.00,-0.05,-1.00) r=1.12m +[headless_play] t= 16.80s step= 840 trunk_z= 110.0mm grav_b=(+0.05,-0.05,-1.00) r=1.13m +[headless_play] t= 16.90s step= 845 trunk_z= 109.0mm grav_b=(+0.05,+0.04,-1.00) r=1.14m +[headless_play] t= 17.00s step= 850 trunk_z= 117.6mm grav_b=(-0.02,+0.06,-1.00) r=1.15m +[headless_play] t= 17.10s step= 855 trunk_z= 115.8mm grav_b=(+0.02,+0.04,-1.00) r=1.15m +[headless_play] t= 17.20s step= 860 trunk_z= 109.6mm grav_b=(+0.05,-0.05,-1.00) r=1.17m +[headless_play] t= 17.30s step= 865 trunk_z= 114.4mm grav_b=(+0.01,-0.04,-1.00) r=1.18m +[headless_play] t= 17.40s step= 870 trunk_z= 114.0mm grav_b=(+0.02,-0.02,-1.00) r=1.18m +[headless_play] t= 17.50s step= 875 trunk_z= 110.5mm grav_b=(+0.04,+0.05,-1.00) r=1.19m +[headless_play] t= 17.60s step= 880 trunk_z= 114.5mm grav_b=(+0.05,+0.06,-1.00) r=1.19m +[headless_play] t= 17.70s step= 885 trunk_z= 111.9mm grav_b=(+0.08,+0.00,-1.00) r=1.19m +[headless_play] t= 17.80s step= 890 trunk_z= 113.3mm grav_b=(+0.04,-0.00,-1.00) r=1.19m +[headless_play] t= 17.90s step= 895 trunk_z= 114.9mm grav_b=(+0.01,+0.00,-1.00) r=1.18m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) r=1.18m +[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=1.18m +[headless_play] t= 18.20s step= 910 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.18m +[headless_play] t= 18.30s step= 915 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=1.18m +[headless_play] t= 18.40s step= 920 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=1.18m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.03,+0.00,-1.00) r=1.18m +[headless_play] t= 18.60s step= 930 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=1.18m +[headless_play] t= 18.70s step= 935 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00) r=1.18m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=1.18m +[headless_play] t= 18.90s step= 945 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=1.18m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=1.18m +[headless_play] t= 19.10s step= 955 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=1.18m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=1.19m +[headless_play] t= 19.30s step= 965 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=1.19m +[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=1.19m +[headless_play] t= 19.50s step= 975 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=1.19m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=1.19m +[headless_play] t= 19.70s step= 985 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=1.19m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=1.19m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(+0.01,-0.01,-1.00) r=1.19m +[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=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.16m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..35a79e6c94a71804414102820cfdafaa03a71033 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.055,-18.308,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.9mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.04,+0.06,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.05,+0.10,-0.99) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 115.2mm grav_b=(+0.04,-0.01,-1.00) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 112.4mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 109.6mm grav_b=(+0.06,+0.08,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 112.2mm grav_b=(+0.07,+0.05,-1.00) r=0.26m +[headless_play] t= 0.70s step= 35 trunk_z= 112.4mm grav_b=(+0.08,-0.00,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 109.4mm grav_b=(+0.05,-0.06,-1.00) r=0.26m +[headless_play] t= 0.90s step= 45 trunk_z= 110.1mm grav_b=(+0.06,+0.03,-1.00) r=0.25m +[headless_play] t= 1.00s step= 50 trunk_z= 107.9mm grav_b=(+0.06,+0.08,-1.00) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 114.1mm grav_b=(+0.10,+0.03,-0.99) r=0.23m +[headless_play] t= 1.20s step= 60 trunk_z= 104.3mm grav_b=(+0.10,-0.07,-0.99) r=0.23m +[headless_play] t= 1.30s step= 65 trunk_z= 110.1mm grav_b=(+0.06,+0.02,-1.00) r=0.23m +[headless_play] t= 1.40s step= 70 trunk_z= 108.2mm grav_b=(+0.02,+0.11,-0.99) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 111.5mm grav_b=(+0.08,+0.03,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 104.1mm grav_b=(+0.09,-0.08,-0.99) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 108.7mm grav_b=(+0.07,+0.03,-1.00) r=0.21m +[headless_play] t= 1.80s step= 90 trunk_z= 106.9mm grav_b=(+0.04,+0.11,-0.99) r=0.20m +[headless_play] t= 1.90s step= 95 trunk_z= 113.2mm grav_b=(+0.10,+0.05,-0.99) r=0.20m +[headless_play] t= 2.00s step= 100 trunk_z= 105.0mm grav_b=(+0.10,-0.06,-0.99) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 110.5mm grav_b=(+0.06,-0.02,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 111.0mm grav_b=(+0.05,+0.05,-1.00) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 111.7mm grav_b=(+0.06,+0.05,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(+0.09,+0.00,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 107.6mm grav_b=(+0.08,-0.07,-0.99) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 110.2mm grav_b=(+0.06,+0.05,-1.00) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 107.8mm grav_b=(+0.04,+0.09,-1.00) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 111.9mm grav_b=(+0.07,+0.01,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 105.6mm grav_b=(+0.06,-0.08,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 106.6mm grav_b=(+0.07,+0.08,-0.99) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 107.0mm grav_b=(+0.08,+0.07,-0.99) r=0.24m +[headless_play] t= 3.20s step= 160 trunk_z= 110.0mm grav_b=(+0.07,-0.03,-1.00) r=0.25m +[headless_play] t= 3.30s step= 165 trunk_z= 111.3mm grav_b=(+0.01,-0.06,-1.00) r=0.26m +[headless_play] t= 3.40s step= 170 trunk_z= 108.8mm grav_b=(+0.05,+0.07,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 109.2mm grav_b=(+0.11,+0.05,-0.99) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 108.7mm grav_b=(+0.06,-0.08,-0.99) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 112.9mm grav_b=(+0.00,-0.05,-1.00) r=0.29m +[headless_play] t= 3.80s step= 190 trunk_z= 106.2mm grav_b=(+0.08,+0.09,-0.99) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 109.5mm grav_b=(+0.10,-0.03,-0.99) r=0.29m +[headless_play] t= 4.00s step= 200 trunk_z= 108.6mm grav_b=(+0.05,-0.01,-1.00) r=0.29m +[headless_play] t= 4.10s step= 205 trunk_z= 111.3mm grav_b=(+0.06,-0.01,-1.00) r=0.29m +[headless_play] t= 4.20s step= 210 trunk_z= 113.3mm grav_b=(+0.08,+0.01,-1.00) r=0.29m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.08,+0.00,-1.00) r=0.29m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(+0.05,-0.00,-1.00) r=0.28m +[headless_play] t= 4.50s step= 225 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) r=0.30m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.32m +[headless_play] t= 4.70s step= 235 trunk_z= 115.2mm grav_b=(-0.03,+0.06,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 107.0mm grav_b=(+0.05,+0.04,-1.00) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 104.4mm grav_b=(+0.13,-0.02,-0.99) r=0.37m +[headless_play] t= 5.00s step= 250 trunk_z= 108.0mm grav_b=(+0.08,-0.02,-1.00) r=0.38m +[headless_play] t= 5.10s step= 255 trunk_z= 112.8mm grav_b=(+0.07,-0.03,-1.00) r=0.37m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(+0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(+0.03,-0.01,-1.00) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) r=0.37m +[headless_play] t= 5.50s step= 275 trunk_z= 115.5mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 5.60s step= 280 trunk_z= 115.6mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 5.80s step= 290 trunk_z= 115.8mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 115.9mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.37m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(+0.03,-0.00,-1.00) r=0.37m +[headless_play] t= 6.20s step= 310 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.40s step= 320 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.00s step= 350 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.10s step= 355 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.20s step= 360 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.70s step= 385 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 7.80s step= 390 trunk_z= 116.7mm grav_b=(+0.01,-0.00,-1.00) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 8.00s step= 400 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.30s step= 415 trunk_z= 116.9mm grav_b=(+0.04,-0.00,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 116.8mm grav_b=(+0.04,-0.00,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 116.9mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.70s step= 435 trunk_z= 116.8mm grav_b=(+0.03,-0.00,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 116.9mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.37m +[headless_play] t= 9.00s step= 450 trunk_z= 116.6mm grav_b=(+0.03,+0.00,-1.00) r=0.37m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(+0.06,-0.00,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.37m +[headless_play] t= 9.40s step= 470 trunk_z= 116.6mm grav_b=(+0.05,+0.00,-1.00) r=0.37m +[headless_play] t= 9.50s step= 475 trunk_z= 116.7mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 116.7mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 9.70s step= 485 trunk_z= 116.7mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 9.80s step= 490 trunk_z= 116.5mm grav_b=(+0.06,+0.01,-1.00) r=0.32m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.06,+0.01,-1.00) r=0.29m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.26m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(+0.03,+0.01,-1.00) r=0.26m +[headless_play] t= 10.30s step= 515 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 10.40s step= 520 trunk_z= 116.0mm grav_b=(+0.08,+0.01,-1.00) r=0.27m +[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(+0.08,+0.01,-1.00) r=0.27m +[headless_play] t= 10.60s step= 530 trunk_z= 116.2mm grav_b=(+0.07,+0.01,-1.00) r=0.26m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00) r=0.26m +[headless_play] t= 10.80s step= 540 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00) r=0.26m +[headless_play] t= 10.90s step= 545 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) r=0.26m +[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.03,-1.00) r=0.26m +[headless_play] t= 11.10s step= 555 trunk_z= 114.9mm grav_b=(+0.09,+0.08,-0.99) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 116.5mm grav_b=(+0.02,-0.07,-1.00) r=0.29m +[headless_play] t= 11.40s step= 570 trunk_z= 110.8mm grav_b=(+0.07,+0.07,-1.00) r=0.30m +[headless_play] t= 11.50s step= 575 trunk_z= 114.0mm grav_b=(+0.09,+0.01,-1.00) r=0.30m +[headless_play] t= 11.60s step= 580 trunk_z= 115.5mm grav_b=(+0.01,-0.16,-0.99) r=0.32m +[headless_play] t= 11.70s step= 585 trunk_z= 120.0mm grav_b=(+0.02,-0.11,-0.99) r=0.32m +[headless_play] t= 11.80s step= 590 trunk_z= 113.7mm grav_b=(+0.04,+0.03,-1.00) r=0.33m +[headless_play] t= 11.90s step= 595 trunk_z= 117.4mm grav_b=(+0.07,+0.04,-1.00) r=0.34m +[headless_play] t= 12.00s step= 600 trunk_z= 111.1mm grav_b=(+0.08,-0.08,-0.99) r=0.34m +[headless_play] t= 12.10s step= 605 trunk_z= 112.9mm grav_b=(+0.07,-0.03,-1.00) r=0.35m +[headless_play] t= 12.20s step= 610 trunk_z= 114.3mm grav_b=(+0.04,+0.07,-1.00) r=0.36m +[headless_play] t= 12.30s step= 615 trunk_z= 113.9mm grav_b=(+0.04,-0.00,-1.00) r=0.37m +[headless_play] t= 12.40s step= 620 trunk_z= 111.3mm grav_b=(+0.08,+0.07,-0.99) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 115.0mm grav_b=(+0.11,+0.06,-0.99) r=0.38m +[headless_play] t= 12.60s step= 630 trunk_z= 115.9mm grav_b=(+0.02,-0.05,-1.00) r=0.39m +[headless_play] t= 12.70s step= 635 trunk_z= 120.5mm grav_b=(-0.03,-0.07,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 113.8mm grav_b=(+0.02,+0.08,-1.00) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 117.0mm grav_b=(+0.06,+0.02,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(+0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 111.4mm grav_b=(+0.07,+0.07,-0.99) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 118.2mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 13.30s step= 665 trunk_z= 118.7mm grav_b=(-0.03,-0.12,-0.99) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 118.7mm grav_b=(-0.00,-0.04,-1.00) r=0.47m +[headless_play] t= 13.50s step= 675 trunk_z= 114.6mm grav_b=(+0.06,+0.10,-0.99) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(+0.06,-0.05,-1.00) r=0.48m +[headless_play] t= 13.70s step= 685 trunk_z= 119.5mm grav_b=(+0.01,-0.12,-0.99) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 115.2mm grav_b=(+0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 14.00s step= 700 trunk_z= 112.5mm grav_b=(+0.04,-0.12,-0.99) r=0.52m +[headless_play] t= 14.10s step= 705 trunk_z= 114.1mm grav_b=(+0.04,-0.05,-1.00) r=0.53m +[headless_play] t= 14.20s step= 710 trunk_z= 114.2mm grav_b=(+0.04,+0.08,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 116.3mm grav_b=(+0.05,-0.05,-1.00) r=0.55m +[headless_play] t= 14.40s step= 720 trunk_z= 115.7mm grav_b=(+0.04,-0.06,-1.00) r=0.56m +[headless_play] t= 14.50s step= 725 trunk_z= 113.7mm grav_b=(-0.00,+0.08,-1.00) r=0.55m +[headless_play] t= 14.60s step= 730 trunk_z= 117.5mm grav_b=(-0.06,-0.08,-0.99) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 120.1mm grav_b=(-0.09,-0.02,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 107.2mm grav_b=(-0.06,+0.21,-0.98) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 106.7mm grav_b=(-0.01,+0.12,-0.99) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 100.0mm grav_b=(+0.13,-0.03,-0.99) r=0.51m +[headless_play] t= 15.10s step= 755 trunk_z= 108.3mm grav_b=(+0.07,+0.04,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 108.2mm grav_b=(+0.09,+0.11,-0.99) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(+0.09,-0.00,-1.00) r=0.55m +[headless_play] t= 15.40s step= 770 trunk_z= 117.9mm grav_b=(+0.01,-0.16,-0.99) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 122.9mm grav_b=(+0.02,-0.13,-0.99) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 118.7mm grav_b=(+0.03,+0.03,-1.00) r=0.59m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.04,-0.11,-0.99) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 116.8mm grav_b=(+0.04,-0.04,-1.00) r=0.61m +[headless_play] t= 16.00s step= 800 trunk_z= 115.9mm grav_b=(+0.04,+0.08,-1.00) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 117.4mm grav_b=(+0.05,-0.05,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 116.8mm grav_b=(+0.03,-0.04,-1.00) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 115.1mm grav_b=(+0.04,+0.08,-1.00) r=0.65m +[headless_play] t= 16.40s step= 820 trunk_z= 117.1mm grav_b=(-0.01,-0.06,-1.00) r=0.66m +[headless_play] t= 16.50s step= 825 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=0.67m +[headless_play] t= 16.60s step= 830 trunk_z= 114.4mm grav_b=(+0.02,+0.13,-0.99) r=0.68m +[headless_play] t= 16.70s step= 835 trunk_z= 118.3mm grav_b=(+0.04,+0.00,-1.00) r=0.69m +[headless_play] t= 16.80s step= 840 trunk_z= 118.4mm grav_b=(+0.02,-0.07,-1.00) r=0.71m +[headless_play] t= 16.90s step= 845 trunk_z= 112.3mm grav_b=(+0.03,+0.11,-0.99) r=0.72m +[headless_play] t= 17.00s step= 850 trunk_z= 116.2mm grav_b=(+0.02,+0.03,-1.00) r=0.73m +[headless_play] t= 17.10s step= 855 trunk_z= 112.1mm grav_b=(+0.08,+0.05,-1.00) r=0.73m +[headless_play] t= 17.20s step= 860 trunk_z= 115.4mm grav_b=(+0.06,+0.11,-0.99) r=0.74m +[headless_play] t= 17.30s step= 865 trunk_z= 117.6mm grav_b=(+0.01,-0.03,-1.00) r=0.75m +[headless_play] t= 17.40s step= 870 trunk_z= 115.0mm grav_b=(+0.03,+0.02,-1.00) r=0.77m +[headless_play] t= 17.50s step= 875 trunk_z= 115.9mm grav_b=(+0.03,+0.10,-1.00) r=0.78m +[headless_play] t= 17.60s step= 880 trunk_z= 116.2mm grav_b=(+0.05,-0.00,-1.00) r=0.78m +[headless_play] t= 17.70s step= 885 trunk_z= 113.2mm grav_b=(+0.07,+0.07,-0.99) r=0.79m +[headless_play] t= 17.80s step= 890 trunk_z= 116.5mm grav_b=(+0.06,+0.08,-1.00) r=0.80m +[headless_play] t= 17.90s step= 895 trunk_z= 117.6mm grav_b=(+0.00,-0.06,-1.00) r=0.81m +[headless_play] t= 18.00s step= 900 trunk_z= 113.2mm grav_b=(+0.03,+0.07,-1.00) r=0.81m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(-0.00,+0.12,-0.99) r=0.80m +[headless_play] t= 18.20s step= 910 trunk_z= 114.4mm grav_b=(-0.01,-0.07,-1.00) r=0.81m +[headless_play] t= 18.30s step= 915 trunk_z= 111.9mm grav_b=(+0.04,+0.11,-0.99) r=0.82m +[headless_play] t= 18.40s step= 920 trunk_z= 115.4mm grav_b=(+0.07,+0.08,-0.99) r=0.83m +[headless_play] t= 18.50s step= 925 trunk_z= 117.1mm grav_b=(+0.01,-0.12,-0.99) r=0.84m +[headless_play] t= 18.60s step= 930 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.85m +[headless_play] t= 18.70s step= 935 trunk_z= 116.9mm grav_b=(+0.01,+0.12,-0.99) r=0.87m +[headless_play] t= 18.80s step= 940 trunk_z= 116.4mm grav_b=(+0.04,-0.05,-1.00) r=0.88m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(+0.03,-0.02,-1.00) r=0.89m +[headless_play] t= 19.00s step= 950 trunk_z= 114.4mm grav_b=(+0.02,+0.11,-0.99) r=0.90m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.05,-0.04,-1.00) r=0.91m +[headless_play] t= 19.20s step= 960 trunk_z= 113.1mm grav_b=(+0.03,+0.02,-1.00) r=0.92m +[headless_play] t= 19.30s step= 965 trunk_z= 113.9mm grav_b=(+0.01,+0.14,-0.99) r=0.94m +[headless_play] t= 19.40s step= 970 trunk_z= 114.6mm grav_b=(+0.07,-0.04,-1.00) r=0.95m +[headless_play] t= 19.50s step= 975 trunk_z= 113.6mm grav_b=(+0.05,+0.03,-1.00) r=0.96m +[headless_play] t= 19.60s step= 980 trunk_z= 115.1mm grav_b=(+0.01,+0.09,-1.00) r=0.97m +[headless_play] t= 19.70s step= 985 trunk_z= 113.4mm grav_b=(+0.05,+0.08,-1.00) r=0.98m +[headless_play] t= 19.80s step= 990 trunk_z= 113.7mm grav_b=(+0.09,+0.13,-0.99) r=0.99m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.04,-0.00,-1.00) r=1.00m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.5mm grav_b=(-0.01,-0.00,-1.00) r=0.61m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.02,+0.07,-1.00) r=0.59m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..ecd85420828413c54d4ad149ceb7c7e62e16b6cb --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.645,-18.446,+0.198) +[headless_play] t= 0.00s step= 0 trunk_z= 120.2mm grav_b=(-0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00) r=0.56m +[headless_play] t= 0.30s step= 15 trunk_z= 118.2mm grav_b=(-0.02,-0.05,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 118.2mm grav_b=(-0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 118.8mm grav_b=(-0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 118.0mm grav_b=(-0.07,-0.04,-1.00) r=0.56m +[headless_play] t= 0.70s step= 35 trunk_z= 119.1mm grav_b=(-0.05,-0.07,-1.00) r=0.56m +[headless_play] t= 0.80s step= 40 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.56m +[headless_play] t= 0.90s step= 45 trunk_z= 118.9mm grav_b=(-0.04,-0.10,-0.99) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 119.6mm grav_b=(-0.10,+0.00,-0.99) r=0.54m +[headless_play] t= 1.10s step= 55 trunk_z= 122.1mm grav_b=(-0.08,+0.04,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 119.1mm grav_b=(-0.06,-0.11,-0.99) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 120.2mm grav_b=(-0.06,-0.03,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 122.4mm grav_b=(-0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(-0.05,-0.10,-0.99) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 121.3mm grav_b=(-0.06,-0.06,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(-0.08,+0.06,-1.00) r=0.48m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.09,-0.03,-1.00) r=0.47m +[headless_play] t= 1.90s step= 95 trunk_z= 122.9mm grav_b=(-0.09,-0.08,-0.99) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(-0.04,+0.06,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 124.4mm grav_b=(-0.04,+0.04,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 120.8mm grav_b=(-0.05,-0.14,-0.99) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 124.5mm grav_b=(-0.07,-0.09,-0.99) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 119.3mm grav_b=(-0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 121.3mm grav_b=(-0.08,-0.03,-1.00) r=0.38m +[headless_play] t= 2.60s step= 130 trunk_z= 121.9mm grav_b=(-0.06,-0.11,-0.99) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 118.9mm grav_b=(-0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 126.0mm grav_b=(-0.02,+0.08,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 117.8mm grav_b=(-0.08,-0.09,-0.99) r=0.35m +[headless_play] t= 3.00s step= 150 trunk_z= 124.3mm grav_b=(-0.06,-0.10,-0.99) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 117.6mm grav_b=(-0.09,+0.02,-1.00) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 123.5mm grav_b=(-0.10,+0.03,-0.99) r=0.32m +[headless_play] t= 3.30s step= 165 trunk_z= 120.0mm grav_b=(-0.07,-0.14,-0.99) r=0.32m +[headless_play] t= 3.40s step= 170 trunk_z= 121.1mm grav_b=(-0.05,-0.06,-1.00) r=0.31m +[headless_play] t= 3.50s step= 175 trunk_z= 121.3mm grav_b=(-0.01,+0.07,-1.00) r=0.31m +[headless_play] t= 3.60s step= 180 trunk_z= 120.2mm grav_b=(-0.06,-0.07,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 124.6mm grav_b=(-0.05,-0.13,-0.99) r=0.29m +[headless_play] t= 3.80s step= 190 trunk_z= 120.7mm grav_b=(-0.05,-0.04,-1.00) r=0.29m +[headless_play] t= 3.90s step= 195 trunk_z= 124.0mm grav_b=(-0.09,+0.05,-0.99) r=0.29m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(-0.06,-0.12,-0.99) r=0.29m +[headless_play] t= 4.10s step= 205 trunk_z= 121.6mm grav_b=(-0.02,-0.07,-1.00) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.03,+0.10,-0.99) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 122.4mm grav_b=(-0.06,+0.02,-1.00) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 122.7mm grav_b=(-0.04,-0.12,-0.99) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 122.3mm grav_b=(-0.05,-0.07,-1.00) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 124.3mm grav_b=(-0.08,+0.01,-1.00) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 121.0mm grav_b=(-0.07,-0.12,-0.99) r=0.29m +[headless_play] t= 4.80s step= 240 trunk_z= 121.1mm grav_b=(-0.09,-0.02,-1.00) r=0.29m +[headless_play] t= 4.90s step= 245 trunk_z= 122.7mm grav_b=(-0.08,-0.01,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 117.6mm grav_b=(-0.10,-0.18,-0.98) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 122.8mm grav_b=(-0.05,-0.13,-0.99) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(-0.02,-0.09,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 121.7mm grav_b=(-0.05,-0.13,-0.99) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(-0.03,-0.02,-1.00) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 120.9mm grav_b=(-0.06,-0.02,-1.00) r=0.36m +[headless_play] t= 5.70s step= 285 trunk_z= 117.5mm grav_b=(-0.08,-0.16,-0.98) r=0.37m +[headless_play] t= 5.80s step= 290 trunk_z= 118.2mm grav_b=(-0.03,-0.09,-1.00) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 119.2mm grav_b=(-0.00,+0.01,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.04,-0.13,-0.99) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 119.7mm grav_b=(-0.05,-0.11,-0.99) r=0.41m +[headless_play] t= 6.20s step= 310 trunk_z= 118.8mm grav_b=(-0.07,+0.04,-1.00) r=0.43m +[headless_play] t= 6.30s step= 315 trunk_z= 121.4mm grav_b=(-0.05,-0.06,-1.00) r=0.43m +[headless_play] t= 6.40s step= 320 trunk_z= 119.4mm grav_b=(-0.06,-0.14,-0.99) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(-0.04,-0.03,-1.00) r=0.44m +[headless_play] t= 6.60s step= 330 trunk_z= 119.5mm grav_b=(-0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 117.7mm grav_b=(-0.04,-0.14,-0.99) r=0.47m +[headless_play] t= 6.80s step= 340 trunk_z= 115.8mm grav_b=(-0.01,-0.08,-1.00) r=0.48m +[headless_play] t= 6.90s step= 345 trunk_z= 115.1mm grav_b=(-0.02,-0.01,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 116.4mm grav_b=(-0.05,-0.09,-0.99) r=0.51m +[headless_play] t= 7.10s step= 355 trunk_z= 114.8mm grav_b=(-0.00,-0.08,-1.00) r=0.52m +[headless_play] t= 7.20s step= 360 trunk_z= 113.2mm grav_b=(+0.02,-0.05,-1.00) r=0.53m +[headless_play] t= 7.30s step= 365 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 7.40s step= 370 trunk_z= 113.1mm grav_b=(+0.01,-0.10,-0.99) r=0.56m +[headless_play] t= 7.50s step= 375 trunk_z= 113.8mm grav_b=(-0.05,-0.01,-1.00) r=0.58m +[headless_play] t= 7.60s step= 380 trunk_z= 113.3mm grav_b=(-0.07,+0.05,-1.00) r=0.60m +[headless_play] t= 7.70s step= 385 trunk_z= 111.7mm grav_b=(-0.02,-0.06,-1.00) r=0.61m +[headless_play] t= 7.80s step= 390 trunk_z= 106.8mm grav_b=(+0.04,-0.07,-1.00) r=0.61m +[headless_play] t= 7.90s step= 395 trunk_z= 105.0mm grav_b=(+0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 114.4mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 107.5mm grav_b=(+0.01,-0.15,-0.99) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 114.9mm grav_b=(+0.03,-0.11,-0.99) r=0.65m +[headless_play] t= 8.30s step= 415 trunk_z= 112.6mm grav_b=(-0.03,-0.01,-1.00) r=0.66m +[headless_play] t= 8.40s step= 420 trunk_z= 119.1mm grav_b=(-0.07,-0.04,-1.00) r=0.67m +[headless_play] t= 8.50s step= 425 trunk_z= 113.9mm grav_b=(-0.04,-0.17,-0.99) r=0.67m +[headless_play] t= 8.60s step= 430 trunk_z= 117.6mm grav_b=(+0.00,-0.14,-0.99) r=0.67m +[headless_play] t= 8.70s step= 435 trunk_z= 113.6mm grav_b=(+0.04,-0.13,-0.99) r=0.68m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(-0.04,+0.01,-1.00) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 118.3mm grav_b=(-0.03,-0.08,-1.00) r=0.73m +[headless_play] t= 9.00s step= 450 trunk_z= 120.3mm grav_b=(-0.05,-0.10,-0.99) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(+0.01,-0.00,-1.00) r=0.75m +[headless_play] t= 9.20s step= 460 trunk_z= 113.9mm grav_b=(-0.02,-0.07,-1.00) r=0.76m +[headless_play] t= 9.30s step= 465 trunk_z= 113.9mm grav_b=(+0.01,-0.01,-1.00) r=0.76m +[headless_play] t= 9.40s step= 470 trunk_z= 115.7mm grav_b=(+0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 9.50s step= 475 trunk_z= 116.4mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.70s step= 485 trunk_z= 116.8mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.75m +[headless_play] t= 9.90s step= 495 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 10.10s step= 505 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 117.1mm grav_b=(-0.04,-0.02,-1.00) r=0.75m +[headless_play] t= 10.30s step= 515 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00) r=0.75m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.75m +[headless_play] t= 10.50s step= 525 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.75m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00) r=0.75m +[headless_play] t= 10.70s step= 535 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=0.75m +[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(-0.06,-0.01,-1.00) r=0.75m +[headless_play] t= 10.90s step= 545 trunk_z= 117.5mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.20s step= 560 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.40s step= 570 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 11.90s step= 595 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 12.00s step= 600 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.10s step= 605 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.20s step= 610 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.30s step= 615 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.40s step= 620 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.50s step= 625 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.70s step= 635 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(-0.07,-0.00,-1.00) r=0.75m +[headless_play] t= 13.10s step= 655 trunk_z= 118.5mm grav_b=(-0.04,-0.05,-1.00) r=0.75m +[headless_play] t= 13.20s step= 660 trunk_z= 120.1mm grav_b=(-0.07,+0.03,-1.00) r=0.75m +[headless_play] t= 13.30s step= 665 trunk_z= 116.1mm grav_b=(-0.13,+0.11,-0.99) r=0.78m +[headless_play] t= 13.40s step= 670 trunk_z= 116.3mm grav_b=(-0.06,-0.13,-0.99) r=0.79m +[headless_play] t= 13.50s step= 675 trunk_z= 125.5mm grav_b=(-0.05,-0.08,-1.00) r=0.81m +[headless_play] t= 13.60s step= 680 trunk_z= 108.5mm grav_b=(-0.16,+0.18,-0.97) r=0.83m +[headless_play] t= 13.70s step= 685 trunk_z= 115.4mm grav_b=(-0.30,+0.10,-0.95) r=0.85m +[headless_play] t= 13.80s step= 690 trunk_z= 112.8mm grav_b=(-0.12,-0.07,-0.99) r=0.88m +[headless_play] t= 13.90s step= 695 trunk_z= 106.8mm grav_b=(+0.10,-0.11,-0.99) r=0.88m +[headless_play] t= 14.00s step= 700 trunk_z= 109.9mm grav_b=(+0.13,-0.02,-0.99) r=0.88m +[headless_play] t= 14.10s step= 705 trunk_z= 124.8mm grav_b=(+0.05,-0.12,-0.99) r=0.90m +[headless_play] t= 14.20s step= 710 trunk_z= 105.2mm grav_b=(-0.23,-0.23,-0.94) r=0.91m +[headless_play] t= 14.30s step= 715 trunk_z= 109.9mm grav_b=(-0.31,-0.13,-0.94) r=0.93m +[headless_play] t= 14.40s step= 720 trunk_z= 110.2mm grav_b=(-0.13,-0.29,-0.95) r=0.96m +[headless_play] t= 14.50s step= 725 trunk_z= 85.1mm grav_b=(-0.65,-0.36,-0.67) r=0.97m +[headless_play] RESET at t= 14.58s step= 729 (env termination, not a recovery) +[headless_play] t= 14.60s step= 730 trunk_z= 121.1mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 118.9mm grav_b=(-0.08,-0.06,-0.99) r=0.55m +[headless_play] t= 14.90s step= 745 trunk_z= 117.7mm grav_b=(-0.13,+0.02,-0.99) r=0.56m +[headless_play] t= 15.00s step= 750 trunk_z= 110.0mm grav_b=(-0.16,-0.02,-0.99) r=0.57m +[headless_play] t= 15.10s step= 755 trunk_z= 104.7mm grav_b=(-0.07,+0.14,-0.99) r=0.58m +[headless_play] t= 15.20s step= 760 trunk_z= 100.1mm grav_b=(-0.08,+0.17,-0.98) r=0.58m +[headless_play] t= 15.30s step= 765 trunk_z= 109.4mm grav_b=(-0.02,+0.11,-0.99) r=0.59m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.03,-0.02,-1.00) r=0.59m +[headless_play] t= 15.50s step= 775 trunk_z= 121.8mm grav_b=(-0.06,-0.09,-0.99) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(-0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 121.4mm grav_b=(-0.10,+0.02,-0.99) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 112.0mm grav_b=(-0.14,-0.07,-0.99) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 111.8mm grav_b=(-0.11,+0.04,-0.99) r=0.60m +[headless_play] t= 16.00s step= 800 trunk_z= 94.6mm grav_b=(-0.01,+0.17,-0.99) r=0.59m +[headless_play] t= 16.10s step= 805 trunk_z= 108.2mm grav_b=(-0.02,+0.09,-1.00) r=0.59m +[headless_play] t= 16.20s step= 810 trunk_z= 115.1mm grav_b=(-0.04,-0.04,-1.00) r=0.59m +[headless_play] t= 16.30s step= 815 trunk_z= 122.5mm grav_b=(-0.06,-0.12,-0.99) r=0.59m +[headless_play] t= 16.40s step= 820 trunk_z= 118.6mm grav_b=(-0.08,-0.05,-1.00) r=0.59m +[headless_play] t= 16.50s step= 825 trunk_z= 120.1mm grav_b=(-0.08,+0.02,-1.00) r=0.60m +[headless_play] t= 16.60s step= 830 trunk_z= 119.9mm grav_b=(-0.09,-0.02,-1.00) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(-0.07,-0.05,-1.00) r=0.60m +[headless_play] t= 16.80s step= 840 trunk_z= 115.1mm grav_b=(-0.05,-0.00,-1.00) r=0.61m +[headless_play] t= 16.90s step= 845 trunk_z= 119.0mm grav_b=(-0.04,+0.05,-1.00) r=0.61m +[headless_play] t= 17.00s step= 850 trunk_z= 120.3mm grav_b=(-0.04,+0.03,-1.00) r=0.62m +[headless_play] t= 17.10s step= 855 trunk_z= 115.6mm grav_b=(-0.04,-0.05,-1.00) r=0.63m +[headless_play] t= 17.20s step= 860 trunk_z= 115.3mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 17.30s step= 865 trunk_z= 113.5mm grav_b=(+0.00,-0.02,-1.00) r=0.65m +[headless_play] t= 17.40s step= 870 trunk_z= 121.0mm grav_b=(-0.07,+0.06,-1.00) r=0.66m +[headless_play] t= 17.50s step= 875 trunk_z= 122.5mm grav_b=(-0.08,+0.05,-1.00) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 116.5mm grav_b=(-0.07,-0.03,-1.00) r=0.68m +[headless_play] t= 17.70s step= 885 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.69m +[headless_play] t= 17.80s step= 890 trunk_z= 113.5mm grav_b=(-0.05,+0.05,-1.00) r=0.70m +[headless_play] t= 17.90s step= 895 trunk_z= 119.7mm grav_b=(-0.06,+0.03,-1.00) r=0.71m +[headless_play] t= 18.00s step= 900 trunk_z= 115.5mm grav_b=(-0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 18.10s step= 905 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) r=0.73m +[headless_play] t= 18.20s step= 910 trunk_z= 111.6mm grav_b=(+0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 18.30s step= 915 trunk_z= 117.8mm grav_b=(-0.06,+0.04,-1.00) r=0.75m +[headless_play] t= 18.40s step= 920 trunk_z= 113.2mm grav_b=(-0.08,-0.13,-0.99) r=0.76m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.06,-0.03,-1.00) r=0.78m +[headless_play] t= 18.60s step= 930 trunk_z= 117.7mm grav_b=(-0.08,+0.09,-0.99) r=0.78m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(-0.08,+0.05,-1.00) r=0.78m +[headless_play] t= 18.80s step= 940 trunk_z= 114.2mm grav_b=(-0.06,-0.04,-1.00) r=0.79m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(-0.07,-0.00,-1.00) r=0.80m +[headless_play] t= 19.00s step= 950 trunk_z= 111.8mm grav_b=(-0.06,+0.02,-1.00) r=0.81m +[headless_play] t= 19.10s step= 955 trunk_z= 111.4mm grav_b=(-0.12,-0.14,-0.98) r=0.79m +[headless_play] t= 19.20s step= 960 trunk_z= 124.8mm grav_b=(-0.43,-0.12,-0.90) r=0.75m +[headless_play] t= 19.30s step= 965 trunk_z= 85.5mm grav_b=(-0.70,-0.22,-0.68) r=0.70m +[headless_play] RESET at t= 19.40s step= 970 (env termination, not a recovery) +[headless_play] t= 19.40s step= 970 trunk_z= 125.8mm grav_b=(+0.00,-0.00,-1.00) r=0.33m +[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.33m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.05,-0.01,-1.00) r=0.33m +[headless_play] t= 19.90s step= 995 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 20.00s step=1000 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..394d687c5612db765b7cb9bff754d39b182b547e --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.699,-18.138,+0.174) +[headless_play] t= 0.00s step= 0 trunk_z= 121.0mm grav_b=(-0.01,+0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 121.1mm grav_b=(+0.03,-0.04,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 122.5mm grav_b=(+0.06,-0.02,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 123.2mm grav_b=(+0.04,-0.03,-1.00) r=0.36m +[headless_play] t= 0.50s step= 25 trunk_z= 124.5mm grav_b=(+0.03,-0.11,-0.99) r=0.37m +[headless_play] t= 0.60s step= 30 trunk_z= 122.4mm grav_b=(-0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 119.6mm grav_b=(-0.06,+0.05,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(+0.02,-0.10,-0.99) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 118.9mm grav_b=(+0.10,+0.01,-0.99) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 125.2mm grav_b=(+0.03,+0.01,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 121.3mm grav_b=(-0.01,-0.11,-0.99) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 123.8mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 120.4mm grav_b=(-0.02,+0.04,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(+0.02,-0.10,-0.99) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 121.9mm grav_b=(+0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 121.6mm grav_b=(+0.01,+0.03,-1.00) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 119.9mm grav_b=(-0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 1.80s step= 90 trunk_z= 121.1mm grav_b=(+0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 121.6mm grav_b=(+0.03,+0.04,-1.00) r=0.60m +[headless_play] t= 2.00s step= 100 trunk_z= 119.7mm grav_b=(-0.02,-0.08,-1.00) r=0.62m +[headless_play] t= 2.10s step= 105 trunk_z= 121.2mm grav_b=(+0.02,+0.04,-1.00) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 120.7mm grav_b=(+0.05,+0.01,-1.00) r=0.67m +[headless_play] t= 2.30s step= 115 trunk_z= 118.0mm grav_b=(+0.00,-0.10,-0.99) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 119.6mm grav_b=(-0.01,+0.05,-1.00) r=0.71m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(-0.08,+0.06,-1.00) r=0.74m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.01,-0.15,-0.99) r=0.76m +[headless_play] t= 2.70s step= 135 trunk_z= 124.4mm grav_b=(+0.05,-0.19,-0.98) r=0.76m +[headless_play] t= 2.80s step= 140 trunk_z= 119.7mm grav_b=(+0.05,-0.05,-1.00) r=0.76m +[headless_play] t= 2.90s step= 145 trunk_z= 122.7mm grav_b=(+0.05,+0.02,-1.00) r=0.78m +[headless_play] t= 3.00s step= 150 trunk_z= 121.2mm grav_b=(-0.02,-0.03,-1.00) r=0.80m +[headless_play] t= 3.10s step= 155 trunk_z= 120.4mm grav_b=(-0.04,-0.02,-1.00) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 121.3mm grav_b=(+0.03,+0.12,-0.99) r=0.83m +[headless_play] t= 3.30s step= 165 trunk_z= 122.5mm grav_b=(+0.04,-0.01,-1.00) r=0.84m +[headless_play] t= 3.40s step= 170 trunk_z= 124.2mm grav_b=(+0.04,+0.02,-1.00) r=0.86m +[headless_play] t= 3.50s step= 175 trunk_z= 119.5mm grav_b=(-0.01,+0.15,-0.99) r=0.88m +[headless_play] t= 3.60s step= 180 trunk_z= 120.5mm grav_b=(-0.03,+0.04,-1.00) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 121.8mm grav_b=(+0.04,-0.05,-1.00) r=0.92m +[headless_play] t= 3.80s step= 190 trunk_z= 118.5mm grav_b=(+0.01,+0.14,-0.99) r=0.94m +[headless_play] t= 3.90s step= 195 trunk_z= 121.0mm grav_b=(-0.04,+0.02,-1.00) r=0.96m +[headless_play] t= 4.00s step= 200 trunk_z= 119.2mm grav_b=(-0.00,-0.06,-1.00) r=0.98m +[headless_play] t= 4.10s step= 205 trunk_z= 119.2mm grav_b=(+0.02,+0.11,-0.99) r=1.00m +[headless_play] t= 4.20s step= 210 trunk_z= 122.2mm grav_b=(+0.01,-0.02,-1.00) r=1.02m +[headless_play] t= 4.30s step= 215 trunk_z= 120.0mm grav_b=(-0.02,-0.04,-1.00) r=1.05m +[headless_play] t= 4.40s step= 220 trunk_z= 119.4mm grav_b=(-0.02,+0.06,-1.00) r=1.07m +[headless_play] t= 4.50s step= 225 trunk_z= 118.7mm grav_b=(-0.00,-0.11,-0.99) r=1.09m +[headless_play] t= 4.60s step= 230 trunk_z= 122.6mm grav_b=(+0.01,+0.01,-1.00) r=1.10m +[headless_play] t= 4.70s step= 235 trunk_z= 119.3mm grav_b=(-0.03,+0.04,-1.00) r=1.12m +[headless_play] t= 4.80s step= 240 trunk_z= 117.0mm grav_b=(-0.01,-0.07,-1.00) r=1.14m +[headless_play] t= 4.90s step= 245 trunk_z= 119.9mm grav_b=(+0.02,+0.02,-1.00) r=1.15m +[headless_play] t= 5.00s step= 250 trunk_z= 120.4mm grav_b=(+0.03,-0.09,-1.00) r=1.17m +[headless_play] t= 5.10s step= 255 trunk_z= 118.9mm grav_b=(+0.00,+0.06,-1.00) r=1.19m +[headless_play] t= 5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.01,-0.12,-0.99) r=1.23m +[headless_play] t= 5.30s step= 265 trunk_z= 131.1mm grav_b=(+0.09,-0.05,-0.99) r=1.28m +[headless_play] t= 5.40s step= 270 trunk_z= 88.5mm grav_b=(+0.04,+0.03,-1.00) r=1.33m +[headless_play] t= 5.50s step= 275 trunk_z= 84.7mm grav_b=(-0.05,-0.12,-0.99) r=1.38m +[headless_play] t= 5.60s step= 280 trunk_z= 91.9mm grav_b=(+0.01,+0.07,-1.00) r=1.41m +[headless_play] t= 5.70s step= 285 trunk_z= 90.5mm grav_b=(-0.02,+0.08,-1.00) r=1.44m +[headless_play] t= 5.80s step= 290 trunk_z= 91.2mm grav_b=(-0.07,-0.10,-0.99) r=1.48m +[headless_play] t= 5.90s step= 295 trunk_z= 94.0mm grav_b=(-0.03,+0.06,-1.00) r=1.50m +[headless_play] t= 6.00s step= 300 trunk_z= 95.1mm grav_b=(+0.04,-0.01,-1.00) r=1.52m +[headless_play] t= 6.10s step= 305 trunk_z= 73.3mm grav_b=(-0.08,-0.23,-0.97) r=1.55m +[headless_play] t= 6.20s step= 310 trunk_z= 87.2mm grav_b=(-0.09,-0.35,-0.93) r=1.58m +[headless_play] t= 6.30s step= 315 trunk_z= 79.8mm grav_b=(-0.15,-0.21,-0.97) r=1.61m +[headless_play] t= 6.40s step= 320 trunk_z= 42.9mm grav_b=(-0.22,+0.33,-0.92) r=1.64m +[headless_play] t= 6.50s step= 325 trunk_z= 57.1mm grav_b=(-0.10,+0.16,-0.98) r=1.66m +[headless_play] t= 6.60s step= 330 trunk_z= 52.5mm grav_b=(+0.16,+0.11,-0.98) r=1.69m +[headless_play] t= 6.70s step= 335 trunk_z= 55.5mm grav_b=(+0.15,+0.42,-0.89) r=1.71m +[headless_play] t= 6.80s step= 340 trunk_z= 72.6mm grav_b=(+0.29,+0.24,-0.93) r=1.72m +[headless_play] t= 6.90s step= 345 trunk_z= 34.9mm grav_b=(+0.08,-0.23,-0.97) r=1.74m +[headless_play] t= 7.00s step= 350 trunk_z= 34.8mm grav_b=(-0.17,-0.08,-0.98) r=1.75m +[headless_play] t= 7.10s step= 355 trunk_z= 48.5mm grav_b=(-0.16,-0.23,-0.96) r=1.74m +[headless_play] t= 7.20s step= 360 trunk_z= 41.5mm grav_b=(-0.02,-0.23,-0.97) r=1.76m +[headless_play] t= 7.30s step= 365 trunk_z= 45.6mm grav_b=(-0.25,-0.20,-0.95) r=1.77m +[headless_play] t= 7.40s step= 370 trunk_z= 25.9mm grav_b=(-0.65,-0.13,-0.75) r=1.78m +[headless_play] t= 7.50s step= 375 trunk_z= 26.7mm grav_b=(-0.47,-0.41,-0.78) r=1.80m +[headless_play] t= 7.60s step= 380 trunk_z= 3.4mm grav_b=(-0.59,-0.51,-0.62) r=1.82m +[headless_play] RESET at t= 7.68s step= 384 (env termination, not a recovery) +[headless_play] t= 7.70s step= 385 trunk_z= 118.7mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 7.80s step= 390 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=0.29m +[headless_play] t= 8.00s step= 400 trunk_z= 118.1mm grav_b=(+0.01,+0.03,-1.00) r=0.28m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(+0.02,+0.05,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 117.8mm grav_b=(+0.05,+0.02,-1.00) r=0.28m +[headless_play] t= 8.30s step= 415 trunk_z= 117.9mm grav_b=(+0.04,+0.04,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 118.5mm grav_b=(+0.02,+0.04,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 119.2mm grav_b=(+0.02,-0.08,-1.00) r=0.27m +[headless_play] t= 8.60s step= 430 trunk_z= 117.3mm grav_b=(+0.02,+0.04,-1.00) r=0.26m +[headless_play] t= 8.70s step= 435 trunk_z= 120.5mm grav_b=(+0.04,+0.01,-1.00) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 123.3mm grav_b=(+0.07,-0.12,-0.99) r=0.24m +[headless_play] t= 8.90s step= 445 trunk_z= 119.9mm grav_b=(+0.01,-0.00,-1.00) r=0.23m +[headless_play] t= 9.00s step= 450 trunk_z= 123.1mm grav_b=(-0.00,+0.05,-1.00) r=0.22m +[headless_play] t= 9.10s step= 455 trunk_z= 117.9mm grav_b=(+0.03,-0.17,-0.98) r=0.21m +[headless_play] t= 9.20s step= 460 trunk_z= 118.7mm grav_b=(+0.05,-0.05,-1.00) r=0.21m +[headless_play] t= 9.30s step= 465 trunk_z= 124.1mm grav_b=(+0.01,+0.08,-1.00) r=0.20m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.01,-0.13,-0.99) r=0.19m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(+0.05,-0.06,-1.00) r=0.19m +[headless_play] t= 9.60s step= 480 trunk_z= 120.2mm grav_b=(-0.01,+0.08,-1.00) r=0.19m +[headless_play] t= 9.70s step= 485 trunk_z= 117.3mm grav_b=(+0.03,-0.08,-1.00) r=0.19m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.09,-0.08,-0.99) r=0.19m +[headless_play] t= 9.90s step= 495 trunk_z= 117.9mm grav_b=(-0.01,+0.10,-0.99) r=0.20m +[headless_play] t= 10.00s step= 500 trunk_z= 119.5mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 10.10s step= 505 trunk_z= 119.3mm grav_b=(+0.07,-0.12,-0.99) r=0.22m +[headless_play] t= 10.20s step= 510 trunk_z= 118.0mm grav_b=(+0.05,+0.04,-1.00) r=0.23m +[headless_play] t= 10.30s step= 515 trunk_z= 121.2mm grav_b=(+0.02,-0.01,-1.00) r=0.25m +[headless_play] t= 10.40s step= 520 trunk_z= 118.9mm grav_b=(+0.04,-0.05,-1.00) r=0.26m +[headless_play] t= 10.50s step= 525 trunk_z= 119.4mm grav_b=(+0.04,+0.08,-1.00) r=0.27m +[headless_play] t= 10.60s step= 530 trunk_z= 118.0mm grav_b=(+0.03,-0.10,-0.99) r=0.28m +[headless_play] t= 10.70s step= 535 trunk_z= 118.9mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 10.80s step= 540 trunk_z= 123.1mm grav_b=(+0.02,+0.07,-1.00) r=0.31m +[headless_play] t= 10.90s step= 545 trunk_z= 117.7mm grav_b=(+0.03,-0.10,-0.99) r=0.32m +[headless_play] t= 11.00s step= 550 trunk_z= 117.7mm grav_b=(-0.00,+0.06,-1.00) r=0.33m +[headless_play] t= 11.10s step= 555 trunk_z= 119.0mm grav_b=(+0.03,-0.03,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 119.0mm grav_b=(+0.03,-0.04,-1.00) r=0.36m +[headless_play] t= 11.30s step= 565 trunk_z= 120.2mm grav_b=(+0.02,+0.09,-1.00) r=0.37m +[headless_play] t= 11.40s step= 570 trunk_z= 117.0mm grav_b=(+0.03,-0.10,-0.99) r=0.39m +[headless_play] t= 11.50s step= 575 trunk_z= 118.9mm grav_b=(+0.05,-0.04,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 119.9mm grav_b=(+0.01,+0.11,-0.99) r=0.42m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(-0.03,-0.11,-0.99) r=0.40m +[headless_play] t= 11.80s step= 590 trunk_z= 132.0mm grav_b=(-0.08,-0.27,-0.96) r=0.39m +[headless_play] t= 11.90s step= 595 trunk_z= 139.3mm grav_b=(-0.19,-0.26,-0.95) r=0.39m +[headless_play] t= 12.00s step= 600 trunk_z= 93.0mm grav_b=(-0.34,+0.29,-0.89) r=0.39m +[headless_play] t= 12.10s step= 605 trunk_z= 89.3mm grav_b=(-0.36,+0.21,-0.91) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 91.3mm grav_b=(+0.06,-0.03,-1.00) r=0.37m +[headless_play] t= 12.30s step= 615 trunk_z= 104.2mm grav_b=(+0.10,+0.10,-0.99) r=0.37m +[headless_play] t= 12.40s step= 620 trunk_z= 111.6mm grav_b=(+0.02,+0.13,-0.99) r=0.38m +[headless_play] t= 12.50s step= 625 trunk_z= 118.7mm grav_b=(-0.02,-0.15,-0.99) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 132.8mm grav_b=(-0.02,-0.14,-0.99) r=0.44m +[headless_play] t= 12.70s step= 635 trunk_z= 126.6mm grav_b=(+0.01,-0.06,-1.00) r=0.46m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(+0.02,-0.06,-1.00) r=0.49m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.06,-0.16,-0.99) r=0.50m +[headless_play] t= 13.00s step= 650 trunk_z= 119.8mm grav_b=(+0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 120.7mm grav_b=(+0.02,+0.08,-1.00) r=0.53m +[headless_play] t= 13.20s step= 660 trunk_z= 119.0mm grav_b=(+0.05,-0.04,-1.00) r=0.55m +[headless_play] t= 13.30s step= 665 trunk_z= 118.0mm grav_b=(+0.05,-0.12,-0.99) r=0.57m +[headless_play] t= 13.40s step= 670 trunk_z= 114.6mm grav_b=(+0.05,+0.02,-1.00) r=0.58m +[headless_play] t= 13.50s step= 675 trunk_z= 119.3mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 13.60s step= 680 trunk_z= 114.6mm grav_b=(+0.03,-0.13,-0.99) r=0.61m +[headless_play] t= 13.70s step= 685 trunk_z= 121.6mm grav_b=(+0.04,-0.13,-0.99) r=0.63m +[headless_play] t= 13.80s step= 690 trunk_z= 112.8mm grav_b=(+0.05,+0.04,-1.00) r=0.64m +[headless_play] t= 13.90s step= 695 trunk_z= 120.3mm grav_b=(+0.01,+0.01,-1.00) r=0.66m +[headless_play] t= 14.00s step= 700 trunk_z= 115.9mm grav_b=(+0.03,-0.13,-0.99) r=0.68m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(+0.08,-0.05,-1.00) r=0.70m +[headless_play] t= 14.20s step= 710 trunk_z= 116.2mm grav_b=(+0.04,+0.04,-1.00) r=0.72m +[headless_play] t= 14.30s step= 715 trunk_z= 116.0mm grav_b=(+0.00,-0.07,-1.00) r=0.73m +[headless_play] t= 14.40s step= 720 trunk_z= 118.1mm grav_b=(+0.04,-0.08,-1.00) r=0.75m +[headless_play] t= 14.50s step= 725 trunk_z= 110.2mm grav_b=(+0.08,+0.05,-1.00) r=0.76m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(+0.04,-0.02,-1.00) r=0.78m +[headless_play] t= 14.70s step= 735 trunk_z= 118.5mm grav_b=(+0.01,-0.13,-0.99) r=0.80m +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(+0.09,-0.06,-0.99) r=0.81m +[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(+0.06,+0.03,-1.00) r=0.82m +[headless_play] t= 15.00s step= 750 trunk_z= 117.1mm grav_b=(+0.01,-0.06,-1.00) r=0.83m +[headless_play] t= 15.10s step= 755 trunk_z= 118.9mm grav_b=(+0.03,-0.10,-0.99) r=0.85m +[headless_play] t= 15.20s step= 760 trunk_z= 112.7mm grav_b=(+0.09,-0.00,-1.00) r=0.86m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(+0.05,+0.01,-1.00) r=0.87m +[headless_play] t= 15.40s step= 770 trunk_z= 114.1mm grav_b=(+0.01,-0.11,-0.99) r=0.88m +[headless_play] t= 15.50s step= 775 trunk_z= 118.8mm grav_b=(+0.04,-0.10,-0.99) r=0.90m +[headless_play] t= 15.60s step= 780 trunk_z= 112.0mm grav_b=(+0.08,+0.00,-1.00) r=0.90m +[headless_play] t= 15.70s step= 785 trunk_z= 118.8mm grav_b=(+0.05,+0.00,-1.00) r=0.91m +[headless_play] t= 15.80s step= 790 trunk_z= 113.5mm grav_b=(+0.04,-0.12,-0.99) r=0.92m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(+0.07,-0.05,-1.00) r=0.93m +[headless_play] t= 16.00s step= 800 trunk_z= 115.1mm grav_b=(+0.03,+0.06,-1.00) r=0.93m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.02,-0.06,-1.00) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 117.2mm grav_b=(+0.05,-0.08,-1.00) r=0.95m +[headless_play] t= 16.30s step= 815 trunk_z= 111.3mm grav_b=(+0.06,+0.02,-1.00) r=0.95m +[headless_play] t= 16.40s step= 820 trunk_z= 118.5mm grav_b=(+0.04,+0.00,-1.00) r=0.95m +[headless_play] t= 16.50s step= 825 trunk_z= 116.6mm grav_b=(+0.01,-0.13,-0.99) r=0.95m +[headless_play] t= 16.60s step= 830 trunk_z= 116.3mm grav_b=(+0.07,-0.06,-1.00) r=0.96m +[headless_play] t= 16.70s step= 835 trunk_z= 114.9mm grav_b=(+0.07,+0.06,-1.00) r=0.95m +[headless_play] t= 16.80s step= 840 trunk_z= 113.7mm grav_b=(-0.01,-0.07,-1.00) r=0.94m +[headless_play] t= 16.90s step= 845 trunk_z= 117.9mm grav_b=(+0.03,-0.10,-0.99) r=0.93m +[headless_play] t= 17.00s step= 850 trunk_z= 115.0mm grav_b=(+0.10,-0.07,-0.99) r=0.92m +[headless_play] t= 17.10s step= 855 trunk_z= 114.0mm grav_b=(+0.07,+0.01,-1.00) r=0.91m +[headless_play] t= 17.20s step= 860 trunk_z= 113.5mm grav_b=(+0.03,-0.07,-1.00) r=0.89m +[headless_play] t= 17.30s step= 865 trunk_z= 113.9mm grav_b=(+0.08,-0.09,-0.99) r=0.90m +[headless_play] t= 17.40s step= 870 trunk_z= 115.8mm grav_b=(+0.13,-0.09,-0.99) r=0.90m +[headless_play] t= 17.50s step= 875 trunk_z= 115.1mm grav_b=(+0.04,-0.01,-1.00) r=0.90m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(+0.00,-0.08,-1.00) r=0.90m +[headless_play] t= 17.70s step= 885 trunk_z= 118.6mm grav_b=(+0.05,-0.13,-0.99) r=0.89m +[headless_play] t= 17.80s step= 890 trunk_z= 116.2mm grav_b=(+0.07,-0.02,-1.00) r=0.89m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(+0.00,+0.05,-1.00) r=0.87m +[headless_play] t= 18.00s step= 900 trunk_z= 113.1mm grav_b=(-0.00,-0.11,-0.99) r=0.87m +[headless_play] t= 18.10s step= 905 trunk_z= 113.8mm grav_b=(+0.10,-0.04,-0.99) r=0.86m +[headless_play] t= 18.20s step= 910 trunk_z= 110.9mm grav_b=(+0.06,+0.03,-1.00) r=0.85m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(+0.04,-0.02,-1.00) r=0.84m +[headless_play] t= 18.40s step= 920 trunk_z= 114.6mm grav_b=(+0.02,-0.13,-0.99) r=0.84m +[headless_play] t= 18.50s step= 925 trunk_z= 113.9mm grav_b=(+0.12,-0.05,-0.99) r=0.84m +[headless_play] t= 18.60s step= 930 trunk_z= 112.1mm grav_b=(+0.04,+0.00,-1.00) r=0.83m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(+0.05,-0.02,-1.00) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 113.9mm grav_b=(+0.01,-0.18,-0.98) r=0.83m +[headless_play] t= 18.90s step= 945 trunk_z= 120.3mm grav_b=(+0.09,-0.10,-0.99) r=0.84m +[headless_play] t= 19.00s step= 950 trunk_z= 116.7mm grav_b=(+0.04,+0.09,-1.00) r=0.84m +[headless_play] t= 19.10s step= 955 trunk_z= 122.8mm grav_b=(+0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 19.20s step= 960 trunk_z= 122.3mm grav_b=(+0.01,-0.11,-0.99) r=0.86m +[headless_play] t= 19.30s step= 965 trunk_z= 119.0mm grav_b=(+0.03,+0.04,-1.00) r=0.86m +[headless_play] t= 19.40s step= 970 trunk_z= 126.1mm grav_b=(+0.02,+0.04,-1.00) r=0.87m +[headless_play] t= 19.50s step= 975 trunk_z= 118.2mm grav_b=(+0.01,-0.10,-0.99) r=0.88m +[headless_play] t= 19.60s step= 980 trunk_z= 118.1mm grav_b=(+0.01,+0.06,-1.00) r=0.89m +[headless_play] t= 19.70s step= 985 trunk_z= 121.1mm grav_b=(+0.02,+0.00,-1.00) r=0.90m +[headless_play] t= 19.80s step= 990 trunk_z= 122.7mm grav_b=(+0.05,-0.12,-0.99) r=0.92m +[headless_play] t= 19.90s step= 995 trunk_z= 121.6mm grav_b=(+0.03,+0.01,-1.00) r=0.92m +[headless_play] t= 20.00s step=1000 trunk_z= 124.3mm grav_b=(-0.02,+0.06,-1.00) r=0.93m +[headless_play] t= 20.10s step=1005 trunk_z= 117.9mm grav_b=(-0.02,-0.10,-1.00) r=0.95m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..68fa61439d3c2141a501bff62a884a88ba751145 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.305,-18.227,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.8mm 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,-0.01,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.09,-0.00,-1.00) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(+0.07,-0.01,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.02,-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= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm 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= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00) r=0.38m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.10s step= 155 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.50s step= 175 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.80s step= 190 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 4.10s step= 205 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 4.20s step= 210 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 4.30s step= 215 trunk_z= 118.5mm grav_b=(-0.10,+0.00,-0.99) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 111.1mm grav_b=(-0.18,-0.08,-0.98) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 109.3mm grav_b=(-0.18,+0.08,-0.98) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 75.8mm grav_b=(-0.05,+0.35,-0.93) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 82.9mm grav_b=(+0.18,-0.02,-0.98) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 101.9mm grav_b=(-0.10,-0.13,-0.99) r=0.66m +[headless_play] t= 4.90s step= 245 trunk_z= 112.6mm grav_b=(-0.11,-0.03,-0.99) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 115.1mm grav_b=(-0.05,-0.12,-0.99) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) r=0.68m +[headless_play] t= 5.20s step= 260 trunk_z= 116.9mm grav_b=(+0.05,+0.00,-1.00) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.68m +[headless_play] t= 5.40s step= 270 trunk_z= 117.1mm grav_b=(+0.03,+0.00,-1.00) r=0.68m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.68m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=0.68m +[headless_play] t= 5.70s step= 285 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.68m +[headless_play] t= 5.80s step= 290 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.68m +[headless_play] t= 5.90s step= 295 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.68m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.68m +[headless_play] t= 6.10s step= 305 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 6.20s step= 310 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.69m +[headless_play] t= 6.50s step= 325 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.60s step= 330 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 7.00s step= 350 trunk_z= 117.4mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 7.10s step= 355 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 7.40s step= 370 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 7.60s step= 380 trunk_z= 118.3mm grav_b=(+0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 7.70s step= 385 trunk_z= 118.5mm grav_b=(+0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 7.80s step= 390 trunk_z= 118.5mm grav_b=(-0.00,-0.01,-1.00) r=0.69m +[headless_play] t= 7.90s step= 395 trunk_z= 118.8mm grav_b=(-0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 8.00s step= 400 trunk_z= 118.9mm grav_b=(-0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 8.10s step= 405 trunk_z= 118.9mm grav_b=(-0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 118.9mm grav_b=(-0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 8.30s step= 415 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=0.73m +[headless_play] t= 8.40s step= 420 trunk_z= 119.1mm grav_b=(-0.06,-0.02,-1.00) r=0.78m +[headless_play] t= 8.50s step= 425 trunk_z= 119.5mm grav_b=(-0.07,-0.02,-1.00) r=0.82m +[headless_play] t= 8.60s step= 430 trunk_z= 119.8mm grav_b=(-0.05,-0.01,-1.00) r=0.85m +[headless_play] t= 8.70s step= 435 trunk_z= 120.0mm grav_b=(+0.00,-0.03,-1.00) r=0.86m +[headless_play] t= 8.80s step= 440 trunk_z= 120.3mm grav_b=(-0.00,-0.02,-1.00) r=0.87m +[headless_play] t= 8.90s step= 445 trunk_z= 120.1mm grav_b=(+0.01,-0.04,-1.00) r=0.86m +[headless_play] t= 9.00s step= 450 trunk_z= 119.4mm grav_b=(-0.01,+0.01,-1.00) r=0.87m +[headless_play] t= 9.10s step= 455 trunk_z= 118.9mm grav_b=(+0.02,-0.04,-1.00) r=0.87m +[headless_play] t= 9.20s step= 460 trunk_z= 120.8mm grav_b=(+0.01,-0.06,-1.00) r=0.87m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.05,+0.05,-1.00) r=0.88m +[headless_play] t= 9.40s step= 470 trunk_z= 118.4mm grav_b=(+0.00,-0.06,-1.00) r=0.88m +[headless_play] t= 9.50s step= 475 trunk_z= 120.8mm grav_b=(-0.02,-0.09,-1.00) r=0.89m +[headless_play] t= 9.60s step= 480 trunk_z= 116.3mm grav_b=(-0.04,+0.06,-1.00) r=0.90m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(-0.03,-0.11,-0.99) r=0.90m +[headless_play] t= 9.80s step= 490 trunk_z= 121.0mm grav_b=(-0.03,-0.04,-1.00) r=0.90m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(-0.07,+0.11,-0.99) r=0.91m +[headless_play] t= 10.00s step= 500 trunk_z= 117.9mm grav_b=(+0.00,-0.11,-0.99) r=0.91m +[headless_play] t= 10.10s step= 505 trunk_z= 117.0mm grav_b=(-0.05,-0.10,-0.99) r=0.91m +[headless_play] t= 10.20s step= 510 trunk_z= 118.0mm grav_b=(-0.05,+0.06,-1.00) r=0.92m +[headless_play] t= 10.30s step= 515 trunk_z= 119.0mm grav_b=(-0.01,-0.09,-1.00) r=0.92m +[headless_play] t= 10.40s step= 520 trunk_z= 118.9mm grav_b=(-0.02,+0.01,-1.00) r=0.93m +[headless_play] t= 10.50s step= 525 trunk_z= 121.1mm grav_b=(+0.00,-0.07,-1.00) r=0.93m +[headless_play] t= 10.60s step= 530 trunk_z= 124.2mm grav_b=(-0.01,-0.13,-0.99) r=0.93m +[headless_play] t= 10.70s step= 535 trunk_z= 117.7mm grav_b=(-0.04,+0.03,-1.00) r=0.94m +[headless_play] t= 10.80s step= 540 trunk_z= 120.2mm grav_b=(-0.03,-0.06,-1.00) r=0.95m +[headless_play] t= 10.90s step= 545 trunk_z= 117.6mm grav_b=(-0.07,-0.07,-1.00) r=0.95m +[headless_play] t= 11.00s step= 550 trunk_z= 119.7mm grav_b=(-0.07,+0.06,-1.00) r=0.97m +[headless_play] t= 11.10s step= 555 trunk_z= 118.5mm grav_b=(+0.00,-0.00,-1.00) r=0.97m +[headless_play] t= 11.20s step= 560 trunk_z= 118.9mm grav_b=(+0.02,+0.02,-1.00) r=0.98m +[headless_play] t= 11.30s step= 565 trunk_z= 119.0mm grav_b=(+0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 11.40s step= 570 trunk_z= 118.7mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 11.50s step= 575 trunk_z= 119.0mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 11.60s step= 580 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.98m +[headless_play] t= 11.70s step= 585 trunk_z= 119.0mm grav_b=(-0.01,+0.00,-1.00) r=0.98m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 11.90s step= 595 trunk_z= 119.3mm grav_b=(-0.02,+0.00,-1.00) r=0.98m +[headless_play] t= 12.00s step= 600 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.10s step= 605 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.20s step= 610 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.30s step= 615 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.40s step= 620 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.50s step= 625 trunk_z= 119.6mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.60s step= 630 trunk_z= 119.6mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.70s step= 635 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.80s step= 640 trunk_z= 119.6mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 12.90s step= 645 trunk_z= 119.6mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.00s step= 650 trunk_z= 119.5mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.20s step= 660 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.30s step= 665 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.40s step= 670 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 13.50s step= 675 trunk_z= 119.2mm grav_b=(-0.03,+0.01,-1.00) r=0.98m +[headless_play] t= 13.60s step= 680 trunk_z= 119.7mm grav_b=(-0.10,+0.01,-0.99) r=1.01m +[headless_play] t= 13.70s step= 685 trunk_z= 120.4mm grav_b=(-0.08,+0.05,-1.00) r=1.02m +[headless_play] t= 13.80s step= 690 trunk_z= 119.6mm grav_b=(-0.02,-0.03,-1.00) r=1.03m +[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(+0.02,-0.03,-1.00) r=1.03m +[headless_play] t= 14.00s step= 700 trunk_z= 118.4mm grav_b=(+0.03,+0.04,-1.00) r=1.04m +[headless_play] t= 14.10s step= 705 trunk_z= 117.0mm grav_b=(+0.01,-0.08,-1.00) r=1.04m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.01,+0.06,-1.00) r=1.06m +[headless_play] t= 14.30s step= 715 trunk_z= 117.9mm grav_b=(+0.00,-0.04,-1.00) r=1.07m +[headless_play] t= 14.40s step= 720 trunk_z= 117.9mm grav_b=(-0.02,+0.03,-1.00) r=1.07m +[headless_play] t= 14.50s step= 725 trunk_z= 119.3mm grav_b=(-0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 14.60s step= 730 trunk_z= 119.2mm grav_b=(-0.02,+0.01,-1.00) r=1.07m +[headless_play] t= 14.70s step= 735 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00) r=1.07m +[headless_play] t= 14.80s step= 740 trunk_z= 119.5mm grav_b=(-0.01,+0.01,-1.00) r=1.07m +[headless_play] t= 14.90s step= 745 trunk_z= 119.7mm grav_b=(-0.01,+0.03,-1.00) r=1.08m +[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(+0.02,+0.03,-1.00) r=1.08m +[headless_play] t= 15.10s step= 755 trunk_z= 119.4mm grav_b=(+0.05,-0.01,-1.00) r=1.08m +[headless_play] t= 15.20s step= 760 trunk_z= 119.0mm grav_b=(+0.04,+0.02,-1.00) r=1.08m +[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(+0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 15.40s step= 770 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=1.08m +[headless_play] t= 15.50s step= 775 trunk_z= 118.3mm grav_b=(-0.00,+0.10,-0.99) r=1.09m +[headless_play] t= 15.60s step= 780 trunk_z= 117.7mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 15.70s step= 785 trunk_z= 118.9mm grav_b=(-0.00,-0.04,-1.00) r=1.10m +[headless_play] t= 15.80s step= 790 trunk_z= 114.8mm grav_b=(-0.07,+0.11,-0.99) r=1.11m +[headless_play] t= 15.90s step= 795 trunk_z= 105.3mm grav_b=(-0.03,+0.25,-0.97) r=1.13m +[headless_play] t= 16.00s step= 800 trunk_z= 108.4mm grav_b=(+0.03,+0.03,-1.00) r=1.16m +[headless_play] t= 16.10s step= 805 trunk_z= 104.5mm grav_b=(+0.31,-0.05,-0.95) r=1.18m +[headless_play] t= 16.20s step= 810 trunk_z= 100.6mm grav_b=(+0.42,+0.10,-0.90) r=1.22m +[headless_play] t= 16.30s step= 815 trunk_z= 85.2mm grav_b=(+0.79,+0.44,-0.42) r=1.26m +[headless_play] RESET at t= 16.32s step= 816 (env termination, not a recovery) +[headless_play] t= 16.40s step= 820 trunk_z= 115.6mm grav_b=(+0.00,+0.01,-1.00) r=0.23m +[headless_play] t= 16.50s step= 825 trunk_z= 116.4mm grav_b=(+0.05,+0.00,-1.00) r=0.24m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(+0.06,-0.02,-1.00) r=0.24m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(+0.06,+0.04,-1.00) r=0.25m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(+0.05,-0.04,-1.00) r=0.25m +[headless_play] t= 16.90s step= 845 trunk_z= 120.6mm grav_b=(+0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 17.00s step= 850 trunk_z= 119.9mm grav_b=(-0.01,+0.09,-1.00) r=0.27m +[headless_play] t= 17.10s step= 855 trunk_z= 117.9mm grav_b=(+0.04,-0.01,-1.00) r=0.28m +[headless_play] t= 17.20s step= 860 trunk_z= 120.6mm grav_b=(+0.02,-0.07,-1.00) r=0.29m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(+0.02,+0.03,-1.00) r=0.30m +[headless_play] t= 17.40s step= 870 trunk_z= 120.3mm grav_b=(+0.03,+0.06,-1.00) r=0.31m +[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(+0.04,-0.08,-1.00) r=0.32m +[headless_play] t= 17.60s step= 880 trunk_z= 119.0mm grav_b=(+0.02,-0.00,-1.00) r=0.33m +[headless_play] t= 17.70s step= 885 trunk_z= 119.4mm grav_b=(+0.01,+0.08,-1.00) r=0.35m +[headless_play] t= 17.80s step= 890 trunk_z= 117.0mm grav_b=(+0.04,-0.05,-1.00) r=0.36m +[headless_play] t= 17.90s step= 895 trunk_z= 121.0mm grav_b=(+0.04,-0.07,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(+0.02,+0.07,-1.00) r=0.38m +[headless_play] t= 18.10s step= 905 trunk_z= 118.7mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 18.20s step= 910 trunk_z= 119.4mm grav_b=(+0.04,-0.08,-1.00) r=0.41m +[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 119.3mm grav_b=(+0.03,+0.05,-1.00) r=0.44m +[headless_play] t= 18.50s step= 925 trunk_z= 119.8mm grav_b=(+0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 18.60s step= 930 trunk_z= 119.7mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 118.1mm grav_b=(+0.02,+0.05,-1.00) r=0.48m +[headless_play] t= 18.80s step= 940 trunk_z= 117.1mm grav_b=(+0.03,-0.07,-1.00) r=0.50m +[headless_play] t= 18.90s step= 945 trunk_z= 120.3mm grav_b=(+0.04,-0.05,-1.00) r=0.51m +[headless_play] t= 19.00s step= 950 trunk_z= 117.9mm grav_b=(+0.02,+0.09,-1.00) r=0.53m +[headless_play] t= 19.10s step= 955 trunk_z= 118.9mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 120.0mm grav_b=(+0.02,-0.05,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 118.5mm grav_b=(-0.06,+0.09,-0.99) r=0.51m +[headless_play] t= 19.40s step= 970 trunk_z= 122.0mm grav_b=(-0.08,+0.05,-1.00) r=0.50m +[headless_play] t= 19.50s step= 975 trunk_z= 101.6mm grav_b=(+0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 19.60s step= 980 trunk_z= 95.7mm grav_b=(+0.20,-0.01,-0.98) r=0.46m +[headless_play] t= 19.70s step= 985 trunk_z= 114.7mm grav_b=(+0.10,-0.00,-1.00) r=0.45m +[headless_play] t= 19.80s step= 990 trunk_z= 109.6mm grav_b=(+0.06,-0.04,-1.00) r=0.45m +[headless_play] t= 19.90s step= 995 trunk_z= 120.8mm grav_b=(-0.09,+0.06,-0.99) r=0.45m +[headless_play] t= 20.00s step=1000 trunk_z= 116.1mm grav_b=(-0.08,+0.07,-0.99) r=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(-0.05,-0.06,-1.00) r=0.49m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..fe3e9f1832758636067940479dcb76a1d91c960f --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-9.742,-18.383,+0.200) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.00,+0.05,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 119.1mm grav_b=(-0.01,+0.08,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.50m +[headless_play] t= 0.40s step= 20 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.50m +[headless_play] t= 0.50s step= 25 trunk_z= 113.5mm grav_b=(+0.00,+0.08,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 117.5mm grav_b=(+0.02,+0.08,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 115.8mm grav_b=(+0.04,+0.03,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(+0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 0.90s step= 45 trunk_z= 115.1mm grav_b=(+0.04,-0.02,-1.00) r=0.53m +[headless_play] t= 1.00s step= 50 trunk_z= 112.1mm grav_b=(-0.00,+0.03,-1.00) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 122.0mm grav_b=(-0.04,+0.05,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 114.8mm grav_b=(+0.00,-0.04,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 108.5mm grav_b=(+0.04,-0.05,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 109.5mm grav_b=(+0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 1.50s step= 75 trunk_z= 109.6mm grav_b=(+0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 119.4mm grav_b=(+0.01,+0.08,-1.00) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 117.4mm grav_b=(+0.03,+0.04,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 116.6mm grav_b=(-0.00,-0.04,-1.00) r=0.56m +[headless_play] t= 1.90s step= 95 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 2.00s step= 100 trunk_z= 110.7mm grav_b=(+0.03,+0.05,-1.00) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 120.0mm grav_b=(-0.00,+0.06,-1.00) r=0.59m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(+0.02,+0.03,-1.00) r=0.60m +[headless_play] t= 2.30s step= 115 trunk_z= 115.9mm grav_b=(+0.00,-0.04,-1.00) r=0.61m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.01,-0.00,-1.00) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 112.6mm grav_b=(+0.03,+0.05,-1.00) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 120.1mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 2.70s step= 135 trunk_z= 117.9mm grav_b=(+0.03,+0.04,-1.00) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 114.7mm grav_b=(+0.02,-0.05,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 116.2mm grav_b=(+0.01,-0.03,-1.00) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(-0.01,+0.03,-1.00) r=0.68m +[headless_play] t= 3.10s step= 155 trunk_z= 121.6mm grav_b=(-0.03,+0.03,-1.00) r=0.68m +[headless_play] t= 3.20s step= 160 trunk_z= 120.5mm grav_b=(-0.03,-0.10,-0.99) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 119.4mm grav_b=(-0.05,+0.05,-1.00) r=0.71m +[headless_play] t= 3.40s step= 170 trunk_z= 121.0mm grav_b=(-0.04,+0.03,-1.00) r=0.72m +[headless_play] t= 3.50s step= 175 trunk_z= 123.5mm grav_b=(-0.03,-0.09,-1.00) r=0.74m +[headless_play] t= 3.60s step= 180 trunk_z= 119.1mm grav_b=(-0.05,+0.07,-1.00) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 122.9mm grav_b=(-0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 3.80s step= 190 trunk_z= 121.9mm grav_b=(-0.04,-0.08,-1.00) r=0.77m +[headless_play] t= 3.90s step= 195 trunk_z= 119.3mm grav_b=(-0.05,+0.07,-1.00) r=0.78m +[headless_play] t= 4.00s step= 200 trunk_z= 123.9mm grav_b=(-0.02,+0.06,-1.00) r=0.80m +[headless_play] t= 4.10s step= 205 trunk_z= 121.1mm grav_b=(-0.04,-0.07,-1.00) r=0.81m +[headless_play] t= 4.20s step= 210 trunk_z= 119.3mm grav_b=(-0.06,+0.09,-0.99) r=0.82m +[headless_play] t= 4.30s step= 215 trunk_z= 122.9mm grav_b=(-0.03,+0.03,-1.00) r=0.83m +[headless_play] t= 4.40s step= 220 trunk_z= 122.0mm grav_b=(-0.06,-0.05,-1.00) r=0.84m +[headless_play] t= 4.50s step= 225 trunk_z= 120.3mm grav_b=(-0.06,+0.14,-0.99) r=0.85m +[headless_play] t= 4.60s step= 230 trunk_z= 124.0mm grav_b=(-0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 4.70s step= 235 trunk_z= 123.2mm grav_b=(-0.06,-0.06,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 119.8mm grav_b=(-0.05,+0.09,-0.99) r=0.89m +[headless_play] t= 4.90s step= 245 trunk_z= 125.5mm grav_b=(-0.03,+0.11,-0.99) r=0.90m +[headless_play] t= 5.00s step= 250 trunk_z= 118.6mm grav_b=(-0.05,-0.04,-1.00) r=0.92m +[headless_play] t= 5.10s step= 255 trunk_z= 120.4mm grav_b=(-0.04,+0.04,-1.00) r=0.93m +[headless_play] t= 5.20s step= 260 trunk_z= 122.5mm grav_b=(-0.03,+0.09,-1.00) r=0.95m +[headless_play] t= 5.30s step= 265 trunk_z= 117.9mm grav_b=(-0.07,-0.07,-1.00) r=0.96m +[headless_play] t= 5.40s step= 270 trunk_z= 124.2mm grav_b=(-0.07,-0.03,-1.00) r=0.98m +[headless_play] t= 5.50s step= 275 trunk_z= 118.7mm grav_b=(-0.03,+0.14,-0.99) r=0.99m +[headless_play] t= 5.60s step= 280 trunk_z= 121.9mm grav_b=(-0.05,+0.03,-1.00) r=1.00m +[headless_play] t= 5.70s step= 285 trunk_z= 123.4mm grav_b=(-0.06,-0.08,-1.00) r=1.02m +[headless_play] t= 5.80s step= 290 trunk_z= 117.3mm grav_b=(-0.04,+0.08,-1.00) r=1.04m +[headless_play] t= 5.90s step= 295 trunk_z= 123.3mm grav_b=(-0.04,+0.09,-1.00) r=1.05m +[headless_play] t= 6.00s step= 300 trunk_z= 118.0mm grav_b=(-0.05,-0.07,-1.00) r=1.06m +[headless_play] t= 6.10s step= 305 trunk_z= 120.0mm grav_b=(-0.06,+0.03,-1.00) r=1.08m +[headless_play] t= 6.20s step= 310 trunk_z= 121.7mm grav_b=(+0.00,+0.12,-0.99) r=1.09m +[headless_play] t= 6.30s step= 315 trunk_z= 119.1mm grav_b=(-0.05,-0.04,-1.00) r=1.11m +[headless_play] t= 6.40s step= 320 trunk_z= 125.3mm grav_b=(-0.06,-0.07,-1.00) r=1.12m +[headless_play] t= 6.50s step= 325 trunk_z= 115.5mm grav_b=(-0.07,+0.11,-0.99) r=1.14m +[headless_play] t= 6.60s step= 330 trunk_z= 122.8mm grav_b=(-0.02,+0.07,-1.00) r=1.16m +[headless_play] t= 6.70s step= 335 trunk_z= 118.2mm grav_b=(-0.05,-0.10,-0.99) r=1.18m +[headless_play] t= 6.80s step= 340 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=1.21m +[headless_play] t= 6.90s step= 345 trunk_z= 105.9mm grav_b=(+0.01,-0.09,-1.00) r=1.24m +[headless_play] t= 7.00s step= 350 trunk_z= 92.6mm grav_b=(-0.05,-0.32,-0.95) r=1.25m +[headless_play] t= 7.10s step= 355 trunk_z= 110.3mm grav_b=(-0.29,-0.41,-0.86) r=1.26m +[headless_play] t= 7.20s step= 360 trunk_z= 98.8mm grav_b=(-0.50,-0.11,-0.86) r=1.27m +[headless_play] t= 7.30s step= 365 trunk_z= 49.1mm grav_b=(-0.59,+0.13,-0.80) r=1.29m +[headless_play] t= 7.40s step= 370 trunk_z= 55.2mm grav_b=(-0.23,+0.08,-0.97) r=1.33m +[headless_play] t= 7.50s step= 375 trunk_z= 52.0mm grav_b=(+0.21,+0.09,-0.97) r=1.39m +[headless_play] t= 7.60s step= 380 trunk_z= 61.8mm grav_b=(+0.15,+0.03,-0.99) r=1.44m +[headless_play] t= 7.70s step= 385 trunk_z= 62.9mm grav_b=(+0.52,-0.67,-0.53) r=1.51m +[headless_play] RESET at t= 7.72s step= 386 (env termination, not a recovery) +[headless_play] t= 7.80s step= 390 trunk_z= 115.5mm grav_b=(-0.00,+0.02,-1.00) r=0.52m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(+0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 8.00s step= 400 trunk_z= 115.1mm grav_b=(+0.04,+0.04,-1.00) r=0.51m +[headless_play] t= 8.10s step= 405 trunk_z= 112.5mm grav_b=(+0.01,-0.09,-1.00) r=0.49m +[headless_play] t= 8.20s step= 410 trunk_z= 113.6mm grav_b=(-0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 105.8mm grav_b=(+0.02,+0.06,-1.00) r=0.47m +[headless_play] t= 8.40s step= 420 trunk_z= 106.6mm grav_b=(+0.06,-0.10,-0.99) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 105.3mm grav_b=(+0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 103.3mm grav_b=(+0.04,+0.03,-1.00) r=0.45m +[headless_play] t= 8.70s step= 435 trunk_z= 108.3mm grav_b=(+0.03,+0.07,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 109.5mm grav_b=(+0.07,+0.05,-1.00) r=0.44m +[headless_play] t= 8.90s step= 445 trunk_z= 105.7mm grav_b=(+0.05,-0.12,-0.99) r=0.43m +[headless_play] t= 9.00s step= 450 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) r=0.41m +[headless_play] t= 9.10s step= 455 trunk_z= 108.5mm grav_b=(+0.00,+0.07,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 109.4mm grav_b=(+0.07,-0.01,-1.00) r=0.40m +[headless_play] t= 9.30s step= 465 trunk_z= 104.4mm grav_b=(+0.06,-0.06,-1.00) r=0.38m +[headless_play] t= 9.40s step= 470 trunk_z= 107.5mm grav_b=(+0.01,+0.05,-1.00) r=0.38m +[headless_play] t= 9.50s step= 475 trunk_z= 109.8mm grav_b=(+0.02,+0.05,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 111.7mm grav_b=(+0.07,+0.02,-1.00) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 103.8mm grav_b=(+0.07,-0.12,-0.99) r=0.35m +[headless_play] t= 9.80s step= 490 trunk_z= 112.3mm grav_b=(-0.03,+0.07,-1.00) r=0.34m +[headless_play] t= 9.90s step= 495 trunk_z= 111.8mm grav_b=(-0.02,+0.08,-1.00) r=0.34m +[headless_play] t= 10.00s step= 500 trunk_z= 106.7mm grav_b=(+0.12,-0.07,-0.99) r=0.34m +[headless_play] t= 10.10s step= 505 trunk_z= 101.2mm grav_b=(+0.15,-0.10,-0.98) r=0.34m +[headless_play] t= 10.20s step= 510 trunk_z= 111.0mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 108.6mm grav_b=(-0.02,+0.13,-0.99) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 116.1mm grav_b=(-0.00,+0.02,-1.00) r=0.33m +[headless_play] t= 10.50s step= 525 trunk_z= 106.2mm grav_b=(+0.03,-0.11,-0.99) r=0.32m +[headless_play] t= 10.60s step= 530 trunk_z= 110.7mm grav_b=(+0.01,-0.03,-1.00) r=0.32m +[headless_play] t= 10.70s step= 535 trunk_z= 109.8mm grav_b=(+0.05,-0.07,-1.00) r=0.34m +[headless_play] t= 10.80s step= 540 trunk_z= 112.3mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 111.5mm grav_b=(-0.15,+0.11,-0.98) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 114.2mm grav_b=(-0.18,-0.08,-0.98) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 80.5mm grav_b=(-0.03,-0.54,-0.84) r=0.38m +[headless_play] t= 11.20s step= 560 trunk_z= 104.6mm grav_b=(+0.11,-0.54,-0.84) r=0.39m +[headless_play] t= 11.30s step= 565 trunk_z= 133.1mm grav_b=(-0.02,-0.36,-0.93) r=0.42m +[headless_play] t= 11.40s step= 570 trunk_z= 129.5mm grav_b=(+0.01,-0.09,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 129.2mm grav_b=(-0.13,-0.02,-0.99) r=0.45m +[headless_play] t= 11.60s step= 580 trunk_z= 116.6mm grav_b=(-0.11,+0.11,-0.99) r=0.46m +[headless_play] t= 11.70s step= 585 trunk_z= 106.2mm grav_b=(-0.22,+0.20,-0.95) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 101.8mm grav_b=(-0.28,+0.08,-0.96) r=0.46m +[headless_play] t= 11.90s step= 595 trunk_z= 94.6mm grav_b=(-0.15,-0.21,-0.97) r=0.48m +[headless_play] t= 12.00s step= 600 trunk_z= 102.4mm grav_b=(-0.04,-0.10,-0.99) r=0.49m +[headless_play] t= 12.10s step= 605 trunk_z= 106.5mm grav_b=(+0.00,-0.02,-1.00) r=0.51m +[headless_play] t= 12.20s step= 610 trunk_z= 122.1mm grav_b=(-0.05,-0.04,-1.00) r=0.51m +[headless_play] t= 12.30s step= 615 trunk_z= 117.3mm grav_b=(-0.07,-0.07,-0.99) r=0.50m +[headless_play] t= 12.40s step= 620 trunk_z= 113.3mm grav_b=(-0.09,+0.12,-0.99) r=0.50m +[headless_play] t= 12.50s step= 625 trunk_z= 112.0mm grav_b=(-0.11,+0.14,-0.98) r=0.50m +[headless_play] t= 12.60s step= 630 trunk_z= 105.1mm grav_b=(+0.07,-0.05,-1.00) r=0.50m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(-0.02,-0.04,-1.00) r=0.49m +[headless_play] t= 12.80s step= 640 trunk_z= 113.8mm grav_b=(-0.03,+0.11,-0.99) r=0.48m +[headless_play] t= 12.90s step= 645 trunk_z= 115.4mm grav_b=(-0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 13.00s step= 650 trunk_z= 110.1mm grav_b=(+0.00,-0.10,-0.99) r=0.46m +[headless_play] t= 13.10s step= 655 trunk_z= 113.4mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 13.20s step= 660 trunk_z= 111.9mm grav_b=(+0.00,+0.06,-1.00) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 111.4mm grav_b=(-0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 113.1mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 13.60s step= 680 trunk_z= 111.0mm grav_b=(+0.03,+0.07,-1.00) r=0.46m +[headless_play] t= 13.70s step= 685 trunk_z= 113.5mm grav_b=(+0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 13.80s step= 690 trunk_z= 109.2mm grav_b=(+0.01,-0.13,-0.99) r=0.46m +[headless_play] t= 13.90s step= 695 trunk_z= 112.4mm grav_b=(+0.00,-0.03,-1.00) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 111.3mm grav_b=(+0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 14.20s step= 710 trunk_z= 113.7mm grav_b=(+0.05,-0.02,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(+0.01,-0.10,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 113.6mm grav_b=(+0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 115.2mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 14.60s step= 730 trunk_z= 111.6mm grav_b=(+0.01,-0.05,-1.00) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 112.1mm grav_b=(+0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 110.8mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 114.7mm grav_b=(+0.04,-0.07,-1.00) r=0.51m +[headless_play] t= 15.10s step= 755 trunk_z= 118.0mm grav_b=(+0.05,-0.06,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(-0.05,+0.10,-0.99) r=0.53m +[headless_play] t= 15.30s step= 765 trunk_z= 119.3mm grav_b=(-0.04,+0.02,-1.00) r=0.56m +[headless_play] t= 15.40s step= 770 trunk_z= 118.0mm grav_b=(-0.04,-0.09,-1.00) r=0.57m +[headless_play] t= 15.50s step= 775 trunk_z= 115.1mm grav_b=(+0.00,+0.03,-1.00) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 116.3mm grav_b=(+0.01,+0.02,-1.00) r=0.59m +[headless_play] t= 15.70s step= 785 trunk_z= 113.5mm grav_b=(-0.03,-0.13,-0.99) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 119.8mm grav_b=(-0.05,-0.10,-0.99) r=0.60m +[headless_play] t= 15.90s step= 795 trunk_z= 114.3mm grav_b=(-0.03,-0.00,-1.00) r=0.61m +[headless_play] t= 16.00s step= 800 trunk_z= 119.5mm grav_b=(-0.01,+0.03,-1.00) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 115.2mm grav_b=(-0.02,-0.08,-1.00) r=0.64m +[headless_play] t= 16.20s step= 810 trunk_z= 117.6mm grav_b=(-0.04,-0.07,-1.00) r=0.65m +[headless_play] t= 16.30s step= 815 trunk_z= 110.4mm grav_b=(-0.00,+0.06,-1.00) r=0.66m +[headless_play] t= 16.40s step= 820 trunk_z= 117.9mm grav_b=(+0.00,+0.00,-1.00) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 113.8mm grav_b=(-0.04,-0.11,-0.99) r=0.69m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(-0.03,-0.06,-1.00) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 111.9mm grav_b=(+0.01,+0.06,-1.00) r=0.72m +[headless_play] t= 16.80s step= 840 trunk_z= 118.6mm grav_b=(-0.00,-0.01,-1.00) r=0.73m +[headless_play] t= 16.90s step= 845 trunk_z= 113.7mm grav_b=(-0.05,-0.12,-0.99) r=0.75m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(-0.03,-0.06,-1.00) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 113.8mm grav_b=(-0.01,+0.05,-1.00) r=0.77m +[headless_play] t= 17.20s step= 860 trunk_z= 118.7mm grav_b=(-0.00,+0.00,-1.00) r=0.78m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(-0.03,-0.09,-1.00) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 113.1mm grav_b=(+0.00,-0.01,-1.00) r=0.81m +[headless_play] t= 17.50s step= 875 trunk_z= 116.4mm grav_b=(-0.00,+0.03,-1.00) r=0.82m +[headless_play] t= 17.60s step= 880 trunk_z= 118.4mm grav_b=(-0.01,-0.04,-1.00) r=0.83m +[headless_play] t= 17.70s step= 885 trunk_z= 117.6mm grav_b=(-0.05,-0.09,-1.00) r=0.85m +[headless_play] t= 17.80s step= 890 trunk_z= 112.3mm grav_b=(+0.02,-0.01,-1.00) r=0.85m +[headless_play] t= 17.90s step= 895 trunk_z= 115.1mm grav_b=(+0.03,-0.00,-1.00) r=0.85m +[headless_play] t= 18.00s step= 900 trunk_z= 115.1mm grav_b=(+0.04,-0.00,-1.00) r=0.85m +[headless_play] t= 18.10s step= 905 trunk_z= 115.8mm grav_b=(+0.02,+0.00,-1.00) r=0.85m +[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 18.30s step= 915 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.85m +[headless_play] t= 18.40s step= 920 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.85m +[headless_play] t= 18.50s step= 925 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.85m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(+0.01,-0.02,-1.00) r=0.85m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.85m +[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(-0.05,-0.01,-1.00) r=0.85m +[headless_play] t= 18.90s step= 945 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.85m +[headless_play] t= 19.00s step= 950 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.85m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=0.85m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(+0.00,+0.00,-1.00) r=0.85m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 19.50s step= 975 trunk_z= 117.1mm grav_b=(-0.02,+0.00,-1.00) r=0.85m +[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(-0.02,+0.00,-1.00) r=0.85m +[headless_play] t= 19.70s step= 985 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 19.90s step= 995 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 20.00s step=1000 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..f0c3a7ce733e56745920113cf564509b88303a12 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-17.930,-18.054,+0.204) +[headless_play] t= 0.00s step= 0 trunk_z= 126.2mm grav_b=(-0.01,+0.00,-1.00) r=0.09m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.05,-0.00,-1.00) r=0.09m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00) r=0.08m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 116.9mm grav_b=(-0.05,+0.01,-1.00) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(-0.06,+0.01,-1.00) r=0.08m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(-0.06,+0.01,-1.00) r=0.08m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(-0.06,+0.01,-1.00) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.20s step= 60 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 116.8mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.80s step= 90 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 1.90s step= 95 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(-0.08,+0.01,-1.00) r=0.08m +[headless_play] t= 3.70s step= 185 trunk_z= 116.4mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 116.3mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 3.90s step= 195 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 116.6mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 116.5mm grav_b=(-0.08,+0.01,-1.00) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.07,+0.01,-1.00) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 116.8mm grav_b=(-0.08,+0.01,-1.00) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 117.0mm grav_b=(-0.07,+0.00,-1.00) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.08m +[headless_play] t= 4.60s step= 230 trunk_z= 117.8mm grav_b=(-0.03,-0.00,-1.00) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 119.6mm grav_b=(-0.01,-0.03,-1.00) r=0.11m +[headless_play] t= 4.80s step= 240 trunk_z= 121.3mm grav_b=(-0.00,-0.04,-1.00) r=0.12m +[headless_play] t= 4.90s step= 245 trunk_z= 120.9mm grav_b=(-0.03,-0.04,-1.00) r=0.12m +[headless_play] t= 5.00s step= 250 trunk_z= 118.6mm grav_b=(-0.08,-0.01,-1.00) r=0.12m +[headless_play] t= 5.10s step= 255 trunk_z= 118.6mm grav_b=(-0.06,-0.00,-1.00) r=0.12m +[headless_play] t= 5.20s step= 260 trunk_z= 118.4mm grav_b=(-0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 5.30s step= 265 trunk_z= 119.0mm grav_b=(-0.01,-0.00,-1.00) r=0.12m +[headless_play] t= 5.40s step= 270 trunk_z= 118.6mm grav_b=(-0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 5.50s step= 275 trunk_z= 118.4mm grav_b=(-0.06,+0.00,-1.00) r=0.12m +[headless_play] t= 5.60s step= 280 trunk_z= 118.3mm grav_b=(-0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 5.70s step= 285 trunk_z= 118.7mm grav_b=(-0.02,+0.00,-1.00) r=0.12m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(-0.04,+0.00,-1.00) r=0.12m +[headless_play] t= 5.90s step= 295 trunk_z= 118.4mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.00s step= 300 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.10s step= 305 trunk_z= 119.1mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.20s step= 310 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.12m +[headless_play] t= 6.30s step= 315 trunk_z= 119.4mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.40s step= 320 trunk_z= 119.4mm grav_b=(-0.05,+0.01,-1.00) r=0.12m +[headless_play] t= 6.50s step= 325 trunk_z= 119.5mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.60s step= 330 trunk_z= 119.5mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.80s step= 340 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 6.90s step= 345 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.00s step= 350 trunk_z= 119.4mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.10s step= 355 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.20s step= 360 trunk_z= 119.5mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.30s step= 365 trunk_z= 119.7mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.40s step= 370 trunk_z= 119.6mm grav_b=(-0.05,+0.01,-1.00) r=0.12m +[headless_play] t= 7.50s step= 375 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 7.60s step= 380 trunk_z= 119.6mm grav_b=(-0.05,+0.01,-1.00) r=0.12m +[headless_play] t= 7.70s step= 385 trunk_z= 119.6mm grav_b=(-0.05,+0.01,-1.00) r=0.12m +[headless_play] t= 7.80s step= 390 trunk_z= 119.3mm grav_b=(-0.05,+0.02,-1.00) r=0.12m +[headless_play] t= 7.90s step= 395 trunk_z= 119.7mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.00s step= 400 trunk_z= 119.7mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.10s step= 405 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.20s step= 410 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.30s step= 415 trunk_z= 119.7mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.40s step= 420 trunk_z= 119.7mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.50s step= 425 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.60s step= 430 trunk_z= 119.8mm grav_b=(-0.04,+0.01,-1.00) r=0.12m +[headless_play] t= 8.70s step= 435 trunk_z= 119.8mm grav_b=(-0.05,+0.01,-1.00) r=0.12m +[headless_play] t= 8.80s step= 440 trunk_z= 119.9mm grav_b=(-0.05,+0.02,-1.00) r=0.12m +[headless_play] t= 8.90s step= 445 trunk_z= 120.2mm grav_b=(-0.05,+0.02,-1.00) r=0.12m +[headless_play] t= 9.00s step= 450 trunk_z= 119.6mm grav_b=(-0.05,+0.02,-1.00) r=0.12m +[headless_play] t= 9.10s step= 455 trunk_z= 119.7mm grav_b=(-0.07,+0.06,-1.00) r=0.12m +[headless_play] t= 9.20s step= 460 trunk_z= 119.6mm grav_b=(-0.03,+0.05,-1.00) r=0.12m +[headless_play] t= 9.30s step= 465 trunk_z= 119.9mm grav_b=(-0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 9.40s step= 470 trunk_z= 120.4mm grav_b=(+0.03,+0.02,-1.00) r=0.16m +[headless_play] t= 9.50s step= 475 trunk_z= 115.3mm grav_b=(+0.01,+0.14,-0.99) r=0.19m +[headless_play] t= 9.60s step= 480 trunk_z= 118.5mm grav_b=(-0.06,-0.10,-0.99) r=0.22m +[headless_play] t= 9.70s step= 485 trunk_z= 126.6mm grav_b=(-0.06,-0.17,-0.98) r=0.25m +[headless_play] t= 9.80s step= 490 trunk_z= 124.9mm grav_b=(-0.04,-0.08,-1.00) r=0.28m +[headless_play] t= 9.90s step= 495 trunk_z= 122.9mm grav_b=(-0.08,+0.08,-0.99) r=0.30m +[headless_play] t= 10.00s step= 500 trunk_z= 118.8mm grav_b=(-0.03,-0.09,-1.00) r=0.31m +[headless_play] t= 10.10s step= 505 trunk_z= 124.8mm grav_b=(-0.04,-0.07,-1.00) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 118.4mm grav_b=(-0.06,+0.07,-1.00) r=0.33m +[headless_play] t= 10.30s step= 515 trunk_z= 121.3mm grav_b=(-0.02,-0.03,-1.00) r=0.34m +[headless_play] t= 10.40s step= 520 trunk_z= 121.3mm grav_b=(-0.02,-0.04,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 118.3mm grav_b=(-0.06,+0.13,-0.99) r=0.37m +[headless_play] t= 10.60s step= 530 trunk_z= 120.3mm grav_b=(-0.04,-0.05,-1.00) r=0.38m +[headless_play] t= 10.70s step= 535 trunk_z= 123.7mm grav_b=(-0.03,-0.09,-1.00) r=0.39m +[headless_play] t= 10.80s step= 540 trunk_z= 117.9mm grav_b=(-0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 121.3mm grav_b=(-0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 121.6mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 120.3mm grav_b=(-0.06,+0.10,-0.99) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 121.6mm grav_b=(-0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 11.30s step= 565 trunk_z= 120.0mm grav_b=(-0.02,-0.02,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 122.7mm grav_b=(-0.05,+0.11,-0.99) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 120.1mm grav_b=(-0.05,-0.03,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 121.1mm grav_b=(-0.04,-0.02,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 122.1mm grav_b=(-0.04,+0.07,-1.00) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 118.6mm grav_b=(-0.03,-0.09,-1.00) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 120.3mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 123.6mm grav_b=(-0.10,+0.09,-0.99) r=0.57m +[headless_play] t= 12.10s step= 605 trunk_z= 118.0mm grav_b=(-0.08,-0.11,-0.99) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 119.5mm grav_b=(-0.02,-0.01,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(-0.04,+0.11,-0.99) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 120.2mm grav_b=(-0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 123.1mm grav_b=(-0.02,-0.08,-1.00) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(-0.05,+0.06,-1.00) r=0.66m +[headless_play] t= 12.70s step= 635 trunk_z= 124.5mm grav_b=(-0.08,+0.05,-1.00) r=0.67m +[headless_play] t= 12.80s step= 640 trunk_z= 120.5mm grav_b=(-0.02,-0.12,-0.99) r=0.69m +[headless_play] t= 12.90s step= 645 trunk_z= 122.0mm grav_b=(-0.04,-0.02,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 125.1mm grav_b=(-0.07,+0.10,-0.99) r=0.72m +[headless_play] t= 13.10s step= 655 trunk_z= 119.4mm grav_b=(-0.07,-0.04,-1.00) r=0.74m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(-0.03,-0.01,-1.00) r=0.76m +[headless_play] t= 13.30s step= 665 trunk_z= 120.9mm grav_b=(-0.05,+0.10,-0.99) r=0.78m +[headless_play] t= 13.40s step= 670 trunk_z= 121.6mm grav_b=(-0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 13.50s step= 675 trunk_z= 121.2mm grav_b=(-0.04,-0.07,-1.00) r=0.81m +[headless_play] t= 13.60s step= 680 trunk_z= 119.2mm grav_b=(-0.07,+0.06,-1.00) r=0.83m +[headless_play] t= 13.70s step= 685 trunk_z= 126.5mm grav_b=(-0.06,+0.10,-0.99) r=0.85m +[headless_play] t= 13.80s step= 690 trunk_z= 117.1mm grav_b=(-0.06,-0.09,-0.99) r=0.87m +[headless_play] t= 13.90s step= 695 trunk_z= 121.8mm grav_b=(-0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 14.00s step= 700 trunk_z= 124.1mm grav_b=(-0.06,+0.08,-0.99) r=0.90m +[headless_play] t= 14.10s step= 705 trunk_z= 118.1mm grav_b=(-0.07,-0.08,-0.99) r=0.90m +[headless_play] t= 14.20s step= 710 trunk_z= 119.6mm grav_b=(-0.20,-0.01,-0.98) r=0.89m +[headless_play] t= 14.30s step= 715 trunk_z= 112.0mm grav_b=(-0.10,+0.15,-0.98) r=0.89m +[headless_play] t= 14.40s step= 720 trunk_z= 118.9mm grav_b=(-0.12,+0.10,-0.99) r=0.89m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(-0.07,-0.07,-1.00) r=0.88m +[headless_play] t= 14.60s step= 730 trunk_z= 121.8mm grav_b=(-0.06,-0.00,-1.00) r=0.88m +[headless_play] t= 14.70s step= 735 trunk_z= 125.2mm grav_b=(-0.05,+0.10,-0.99) r=0.89m +[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(-0.05,-0.03,-1.00) r=0.91m +[headless_play] t= 14.90s step= 745 trunk_z= 123.4mm grav_b=(-0.04,-0.06,-1.00) r=0.93m +[headless_play] t= 15.00s step= 750 trunk_z= 119.9mm grav_b=(-0.04,+0.07,-1.00) r=0.95m +[headless_play] t= 15.10s step= 755 trunk_z= 122.9mm grav_b=(-0.05,+0.02,-1.00) r=0.97m +[headless_play] t= 15.20s step= 760 trunk_z= 121.9mm grav_b=(-0.04,-0.07,-1.00) r=0.98m +[headless_play] t= 15.30s step= 765 trunk_z= 120.3mm grav_b=(-0.05,+0.06,-1.00) r=1.00m +[headless_play] t= 15.40s step= 770 trunk_z= 104.4mm grav_b=(-0.21,+0.24,-0.95) r=1.04m +[headless_play] t= 15.50s step= 775 trunk_z= 112.9mm grav_b=(-0.21,+0.24,-0.95) r=1.05m +[headless_play] t= 15.60s step= 780 trunk_z= 104.8mm grav_b=(-0.20,+0.25,-0.95) r=1.07m +[headless_play] t= 15.70s step= 785 trunk_z= 76.7mm grav_b=(-0.34,+0.35,-0.87) r=1.11m +[headless_play] t= 15.80s step= 790 trunk_z= 41.8mm grav_b=(-0.17,+0.37,-0.91) r=1.17m +[headless_play] t= 15.90s step= 795 trunk_z= 38.2mm grav_b=(-0.67,+0.26,-0.70) r=1.22m +[headless_play] RESET at t= 15.96s step= 798 (env termination, not a recovery) +[headless_play] t= 16.00s step= 800 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.22m +[headless_play] t= 16.20s step= 810 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 16.30s step= 815 trunk_z= 117.8mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 16.40s step= 820 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.22m +[headless_play] t= 16.60s step= 830 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 16.80s step= 840 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 16.90s step= 845 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.00s step= 850 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.10s step= 855 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.30s step= 865 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.50s step= 875 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.60s step= 880 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.80s step= 890 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 17.90s step= 895 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.20s step= 910 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.40s step= 920 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.50s step= 925 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.60s step= 930 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.70s step= 935 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.80s step= 940 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 18.90s step= 945 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 19.00s step= 950 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.19m +[headless_play] t= 19.10s step= 955 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 19.20s step= 960 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.14m +[headless_play] t= 19.30s step= 965 trunk_z= 118.9mm grav_b=(+0.02,-0.01,-1.00) r=0.14m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(+0.01,-0.00,-1.00) r=0.14m +[headless_play] t= 19.50s step= 975 trunk_z= 119.1mm grav_b=(-0.00,+0.00,-1.00) r=0.14m +[headless_play] t= 19.60s step= 980 trunk_z= 117.9mm grav_b=(-0.05,+0.01,-1.00) r=0.14m +[headless_play] t= 19.70s step= 985 trunk_z= 118.3mm grav_b=(-0.06,+0.03,-1.00) r=0.14m +[headless_play] t= 19.80s step= 990 trunk_z= 118.4mm grav_b=(-0.04,+0.03,-1.00) r=0.14m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(-0.01,+0.06,-1.00) r=0.15m +[headless_play] t= 20.00s step=1000 trunk_z= 118.4mm grav_b=(-0.01,-0.02,-1.00) r=0.14m +[headless_play] t= 20.10s step=1005 trunk_z= 119.8mm grav_b=(-0.05,-0.02,-1.00) r=0.14m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..bf8f21a4eabcd64c9737930c061060090a69cdf3 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.5mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.878,-18.318,+0.195) +[headless_play] t= 0.00s step= 0 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.03,+0.02,-1.00) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 117.8mm grav_b=(-0.02,+0.02,-1.00) r=0.34m +[headless_play] t= 0.30s step= 15 trunk_z= 118.5mm grav_b=(-0.01,+0.02,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 120.8mm grav_b=(-0.02,+0.04,-1.00) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 118.3mm grav_b=(-0.06,-0.10,-0.99) r=0.33m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.07,+0.05,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 118.1mm grav_b=(-0.09,-0.04,-0.99) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 118.0mm grav_b=(-0.07,+0.02,-1.00) r=0.32m +[headless_play] t= 0.90s step= 45 trunk_z= 118.8mm grav_b=(-0.06,-0.02,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 118.8mm grav_b=(-0.04,+0.05,-1.00) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 117.7mm grav_b=(-0.05,-0.04,-1.00) r=0.31m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(-0.04,+0.02,-1.00) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 118.5mm grav_b=(-0.07,-0.04,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 117.8mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 119.2mm grav_b=(-0.09,+0.02,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 118.8mm grav_b=(-0.09,+0.01,-1.00) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 118.9mm grav_b=(-0.08,+0.03,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 119.5mm grav_b=(-0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 1.90s step= 95 trunk_z= 119.3mm grav_b=(-0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(-0.07,+0.02,-1.00) r=0.30m +[headless_play] t= 2.10s step= 105 trunk_z= 119.3mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 119.3mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 119.3mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 119.3mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 2.50s step= 125 trunk_z= 119.3mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(-0.08,+0.03,-1.00) r=0.30m +[headless_play] t= 2.70s step= 135 trunk_z= 119.3mm grav_b=(-0.08,+0.03,-1.00) r=0.30m +[headless_play] t= 2.80s step= 140 trunk_z= 119.2mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 2.90s step= 145 trunk_z= 119.2mm grav_b=(-0.09,+0.02,-1.00) r=0.30m +[headless_play] t= 3.00s step= 150 trunk_z= 119.1mm grav_b=(-0.09,+0.02,-1.00) r=0.30m +[headless_play] t= 3.10s step= 155 trunk_z= 119.0mm grav_b=(-0.08,+0.03,-1.00) r=0.30m +[headless_play] t= 3.20s step= 160 trunk_z= 119.4mm grav_b=(-0.08,+0.03,-1.00) r=0.30m +[headless_play] t= 3.30s step= 165 trunk_z= 119.5mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 3.40s step= 170 trunk_z= 119.6mm grav_b=(-0.07,+0.03,-1.00) r=0.30m +[headless_play] t= 3.50s step= 175 trunk_z= 119.5mm grav_b=(-0.08,+0.02,-1.00) r=0.30m +[headless_play] t= 3.60s step= 180 trunk_z= 119.4mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 119.3mm grav_b=(-0.09,+0.01,-1.00) r=0.30m +[headless_play] t= 3.80s step= 190 trunk_z= 119.4mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 119.4mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 4.00s step= 200 trunk_z= 119.4mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 4.10s step= 205 trunk_z= 119.6mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 4.20s step= 210 trunk_z= 119.6mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 119.5mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 4.40s step= 220 trunk_z= 119.6mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 4.50s step= 225 trunk_z= 119.5mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 4.60s step= 230 trunk_z= 119.5mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 119.5mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 4.80s step= 240 trunk_z= 119.6mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 4.90s step= 245 trunk_z= 119.4mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 119.5mm grav_b=(-0.08,+0.01,-1.00) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 119.5mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 120.1mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 5.30s step= 265 trunk_z= 124.7mm grav_b=(+0.12,-0.01,-0.99) r=0.24m +[headless_play] t= 5.40s step= 270 trunk_z= 86.6mm grav_b=(+0.13,-0.16,-0.98) r=0.21m +[headless_play] t= 5.50s step= 275 trunk_z= 102.6mm grav_b=(+0.03,-0.14,-0.99) r=0.19m +[headless_play] t= 5.60s step= 280 trunk_z= 119.5mm grav_b=(-0.01,-0.02,-1.00) r=0.19m +[headless_play] t= 5.70s step= 285 trunk_z= 113.1mm grav_b=(-0.06,-0.21,-0.98) r=0.19m +[headless_play] t= 5.80s step= 290 trunk_z= 116.7mm grav_b=(-0.17,-0.01,-0.99) r=0.19m +[headless_play] t= 5.90s step= 295 trunk_z= 121.2mm grav_b=(-0.05,-0.02,-1.00) r=0.22m +[headless_play] t= 6.00s step= 300 trunk_z= 124.9mm grav_b=(-0.04,-0.06,-1.00) r=0.24m +[headless_play] t= 6.10s step= 305 trunk_z= 120.5mm grav_b=(-0.05,+0.07,-1.00) r=0.26m +[headless_play] t= 6.20s step= 310 trunk_z= 120.8mm grav_b=(-0.04,+0.03,-1.00) r=0.29m +[headless_play] t= 6.30s step= 315 trunk_z= 118.3mm grav_b=(-0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 6.40s step= 320 trunk_z= 114.8mm grav_b=(-0.03,+0.08,-1.00) r=0.30m +[headless_play] t= 6.50s step= 325 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 6.60s step= 330 trunk_z= 114.3mm grav_b=(-0.01,-0.11,-0.99) r=0.32m +[headless_play] t= 6.70s step= 335 trunk_z= 113.9mm grav_b=(+0.03,-0.04,-1.00) r=0.33m +[headless_play] t= 6.80s step= 340 trunk_z= 116.8mm grav_b=(-0.01,+0.05,-1.00) r=0.34m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(-0.03,-0.06,-1.00) r=0.35m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(-0.03,-0.07,-1.00) r=0.37m +[headless_play] t= 7.10s step= 355 trunk_z= 113.4mm grav_b=(+0.02,+0.02,-1.00) r=0.38m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(+0.03,+0.04,-1.00) r=0.39m +[headless_play] t= 7.30s step= 365 trunk_z= 115.9mm grav_b=(+0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 116.2mm grav_b=(-0.01,-0.09,-1.00) r=0.42m +[headless_play] t= 7.50s step= 375 trunk_z= 114.1mm grav_b=(+0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 7.60s step= 380 trunk_z= 118.0mm grav_b=(-0.01,+0.04,-1.00) r=0.45m +[headless_play] t= 7.70s step= 385 trunk_z= 118.2mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 7.80s step= 390 trunk_z= 113.9mm grav_b=(+0.01,-0.07,-1.00) r=0.47m +[headless_play] t= 7.90s step= 395 trunk_z= 113.4mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 8.00s step= 400 trunk_z= 115.7mm grav_b=(-0.01,+0.05,-1.00) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 114.3mm grav_b=(-0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 8.20s step= 410 trunk_z= 114.4mm grav_b=(-0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 8.30s step= 415 trunk_z= 112.7mm grav_b=(+0.03,+0.01,-1.00) r=0.54m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.01,+0.04,-1.00) r=0.56m +[headless_play] t= 8.50s step= 425 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 8.60s step= 430 trunk_z= 113.4mm grav_b=(+0.02,-0.05,-1.00) r=0.58m +[headless_play] t= 8.70s step= 435 trunk_z= 114.3mm grav_b=(+0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(-0.03,+0.08,-1.00) r=0.61m +[headless_play] t= 8.90s step= 445 trunk_z= 115.2mm grav_b=(-0.02,-0.05,-1.00) r=0.62m +[headless_play] t= 9.00s step= 450 trunk_z= 113.3mm grav_b=(+0.00,-0.07,-1.00) r=0.63m +[headless_play] t= 9.10s step= 455 trunk_z= 112.4mm grav_b=(+0.05,+0.00,-1.00) r=0.64m +[headless_play] t= 9.20s step= 460 trunk_z= 118.2mm grav_b=(+0.00,+0.07,-1.00) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 118.5mm grav_b=(-0.01,-0.02,-1.00) r=0.67m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(-0.03,-0.07,-1.00) r=0.69m +[headless_play] t= 9.50s step= 475 trunk_z= 111.9mm grav_b=(+0.08,+0.01,-1.00) r=0.70m +[headless_play] t= 9.60s step= 480 trunk_z= 118.2mm grav_b=(+0.13,+0.04,-0.99) r=0.73m +[headless_play] t= 9.70s step= 485 trunk_z= 119.4mm grav_b=(-0.07,-0.06,-1.00) r=0.75m +[headless_play] t= 9.80s step= 490 trunk_z= 122.2mm grav_b=(-0.15,-0.08,-0.99) r=0.78m +[headless_play] t= 9.90s step= 495 trunk_z= 115.6mm grav_b=(-0.14,+0.06,-0.99) r=0.82m +[headless_play] t= 10.00s step= 500 trunk_z= 114.3mm grav_b=(-0.04,-0.05,-1.00) r=0.84m +[headless_play] t= 10.10s step= 505 trunk_z= 104.5mm grav_b=(+0.06,-0.09,-0.99) r=0.84m +[headless_play] t= 10.20s step= 510 trunk_z= 106.4mm grav_b=(+0.05,-0.04,-1.00) r=0.84m +[headless_play] t= 10.30s step= 515 trunk_z= 114.3mm grav_b=(-0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 10.40s step= 520 trunk_z= 124.6mm grav_b=(-0.02,-0.01,-1.00) r=0.84m +[headless_play] t= 10.50s step= 525 trunk_z= 120.4mm grav_b=(-0.04,-0.09,-1.00) r=0.85m +[headless_play] t= 10.60s step= 530 trunk_z= 120.5mm grav_b=(-0.04,+0.02,-1.00) r=0.85m +[headless_play] t= 10.70s step= 535 trunk_z= 119.6mm grav_b=(-0.03,+0.05,-1.00) r=0.86m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(-0.04,-0.07,-1.00) r=0.86m +[headless_play] t= 10.90s step= 545 trunk_z= 116.9mm grav_b=(+0.00,-0.01,-1.00) r=0.87m +[headless_play] t= 11.00s step= 550 trunk_z= 114.8mm grav_b=(+0.00,+0.08,-1.00) r=0.86m +[headless_play] t= 11.10s step= 555 trunk_z= 119.5mm grav_b=(-0.03,-0.02,-1.00) r=0.85m +[headless_play] t= 11.20s step= 560 trunk_z= 120.2mm grav_b=(-0.00,-0.06,-1.00) r=0.86m +[headless_play] t= 11.30s step= 565 trunk_z= 115.9mm grav_b=(+0.00,+0.06,-1.00) r=0.85m +[headless_play] t= 11.40s step= 570 trunk_z= 120.8mm grav_b=(-0.03,+0.02,-1.00) r=0.85m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(-0.01,-0.07,-1.00) r=0.84m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00) r=0.84m +[headless_play] t= 11.70s step= 585 trunk_z= 119.8mm grav_b=(-0.01,+0.04,-1.00) r=0.83m +[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(-0.04,-0.09,-1.00) r=0.82m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00) r=0.82m +[headless_play] t= 12.00s step= 600 trunk_z= 118.3mm grav_b=(-0.00,+0.07,-1.00) r=0.81m +[headless_play] t= 12.10s step= 605 trunk_z= 117.5mm grav_b=(-0.06,-0.06,-1.00) r=0.80m +[headless_play] t= 12.20s step= 610 trunk_z= 121.7mm grav_b=(-0.02,-0.06,-1.00) r=0.80m +[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00) r=0.80m +[headless_play] t= 12.40s step= 620 trunk_z= 120.3mm grav_b=(-0.01,-0.00,-1.00) r=0.79m +[headless_play] t= 12.50s step= 625 trunk_z= 118.9mm grav_b=(+0.00,-0.10,-0.99) r=0.78m +[headless_play] t= 12.60s step= 630 trunk_z= 121.0mm grav_b=(+0.01,+0.01,-1.00) r=0.78m +[headless_play] t= 12.70s step= 635 trunk_z= 122.3mm grav_b=(-0.03,+0.11,-0.99) r=0.77m +[headless_play] t= 12.80s step= 640 trunk_z= 118.6mm grav_b=(-0.06,-0.02,-1.00) r=0.76m +[headless_play] t= 12.90s step= 645 trunk_z= 120.5mm grav_b=(-0.01,-0.05,-1.00) r=0.76m +[headless_play] t= 13.00s step= 650 trunk_z= 116.5mm grav_b=(+0.00,+0.07,-1.00) r=0.76m +[headless_play] t= 13.10s step= 655 trunk_z= 119.9mm grav_b=(-0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 13.20s step= 660 trunk_z= 119.2mm grav_b=(-0.01,-0.12,-0.99) r=0.76m +[headless_play] t= 13.30s step= 665 trunk_z= 121.3mm grav_b=(+0.02,-0.04,-1.00) r=0.77m +[headless_play] t= 13.40s step= 670 trunk_z= 119.4mm grav_b=(-0.01,+0.09,-1.00) r=0.76m +[headless_play] t= 13.50s step= 675 trunk_z= 118.9mm grav_b=(-0.06,-0.03,-1.00) r=0.76m +[headless_play] t= 13.60s step= 680 trunk_z= 119.3mm grav_b=(-0.03,-0.05,-1.00) r=0.76m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(+0.00,+0.07,-1.00) r=0.76m +[headless_play] t= 13.80s step= 690 trunk_z= 119.4mm grav_b=(+0.01,+0.01,-1.00) r=0.76m +[headless_play] t= 13.90s step= 695 trunk_z= 120.2mm grav_b=(-0.01,-0.08,-1.00) r=0.77m +[headless_play] t= 14.00s step= 700 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.77m +[headless_play] t= 14.10s step= 705 trunk_z= 121.5mm grav_b=(-0.02,+0.07,-1.00) r=0.77m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(-0.04,-0.08,-1.00) r=0.77m +[headless_play] t= 14.30s step= 715 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.78m +[headless_play] t= 14.40s step= 720 trunk_z= 118.5mm grav_b=(+0.00,+0.11,-0.99) r=0.79m +[headless_play] t= 14.50s step= 725 trunk_z= 119.8mm grav_b=(-0.04,-0.04,-1.00) r=0.79m +[headless_play] t= 14.60s step= 730 trunk_z= 121.8mm grav_b=(-0.03,-0.06,-1.00) r=0.80m +[headless_play] t= 14.70s step= 735 trunk_z= 121.8mm grav_b=(-0.03,+0.07,-1.00) r=0.80m +[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(-0.05,-0.09,-0.99) r=0.81m +[headless_play] t= 14.90s step= 745 trunk_z= 120.6mm grav_b=(-0.05,+0.00,-1.00) r=0.81m +[headless_play] t= 15.00s step= 750 trunk_z= 119.5mm grav_b=(-0.03,+0.07,-1.00) r=0.82m +[headless_play] t= 15.10s step= 755 trunk_z= 117.2mm grav_b=(-0.07,-0.11,-0.99) r=0.83m +[headless_play] t= 15.20s step= 760 trunk_z= 123.1mm grav_b=(-0.05,-0.05,-1.00) r=0.84m +[headless_play] t= 15.30s step= 765 trunk_z= 121.7mm grav_b=(-0.07,+0.13,-0.99) r=0.85m +[headless_play] t= 15.40s step= 770 trunk_z= 122.1mm grav_b=(-0.04,-0.01,-1.00) r=0.87m +[headless_play] t= 15.50s step= 775 trunk_z= 129.4mm grav_b=(+0.13,-0.14,-0.98) r=0.94m +[headless_play] t= 15.60s step= 780 trunk_z= 110.7mm grav_b=(+0.13,-0.14,-0.98) r=1.00m +[headless_play] t= 15.70s step= 785 trunk_z= 96.5mm grav_b=(+0.13,+0.00,-0.99) r=1.05m +[headless_play] t= 15.80s step= 790 trunk_z= 119.3mm grav_b=(+0.27,-0.16,-0.95) r=1.11m +[headless_play] t= 15.90s step= 795 trunk_z= 74.9mm grav_b=(-0.02,-0.15,-0.99) r=1.19m +[headless_play] t= 16.00s step= 800 trunk_z= 81.7mm grav_b=(-0.04,+0.25,-0.97) r=1.26m +[headless_play] t= 16.10s step= 805 trunk_z= 90.9mm grav_b=(+0.01,-0.16,-0.99) r=1.32m +[headless_play] t= 16.20s step= 810 trunk_z= 73.6mm grav_b=(+0.25,-0.26,-0.93) r=1.37m +[headless_play] t= 16.30s step= 815 trunk_z= 55.1mm grav_b=(-0.18,+0.08,-0.98) r=1.44m +[headless_play] t= 16.40s step= 820 trunk_z= 46.9mm grav_b=(-0.41,-0.09,-0.91) r=1.48m +[headless_play] t= 16.50s step= 825 trunk_z= 58.3mm grav_b=(-0.12,+0.07,-0.99) r=1.50m +[headless_play] t= 16.60s step= 830 trunk_z= 58.7mm grav_b=(-0.22,-0.04,-0.97) r=1.52m +[headless_play] t= 16.70s step= 835 trunk_z= 29.1mm grav_b=(+0.03,-0.38,-0.93) r=1.54m +[headless_play] t= 16.80s step= 840 trunk_z= 41.1mm grav_b=(+0.26,-0.17,-0.95) r=1.56m +[headless_play] t= 16.90s step= 845 trunk_z= 43.1mm grav_b=(+0.21,+0.11,-0.97) r=1.58m +[headless_play] t= 17.00s step= 850 trunk_z= 62.3mm grav_b=(+0.11,-0.06,-0.99) r=1.58m +[headless_play] t= 17.10s step= 855 trunk_z= 55.7mm grav_b=(-0.21,-0.08,-0.97) r=1.58m +[headless_play] t= 17.20s step= 860 trunk_z= 58.2mm grav_b=(-0.25,+0.05,-0.97) r=1.57m +[headless_play] t= 17.30s step= 865 trunk_z= 49.5mm grav_b=(-0.11,-0.02,-0.99) r=1.56m +[headless_play] t= 17.40s step= 870 trunk_z= 46.2mm grav_b=(-0.09,-0.35,-0.93) r=1.57m +[headless_play] t= 17.50s step= 875 trunk_z= 68.3mm grav_b=(+0.02,-0.19,-0.98) r=1.57m +[headless_play] t= 17.60s step= 880 trunk_z= 65.7mm grav_b=(-0.14,+0.03,-0.99) r=1.58m +[headless_play] t= 17.70s step= 885 trunk_z= 71.0mm grav_b=(-0.15,+0.04,-0.99) r=1.59m +[headless_play] t= 17.80s step= 890 trunk_z= 53.9mm grav_b=(+0.01,-0.19,-0.98) r=1.60m +[headless_play] t= 17.90s step= 895 trunk_z= 54.6mm grav_b=(+0.14,-0.14,-0.98) r=1.61m +[headless_play] t= 18.00s step= 900 trunk_z= 62.8mm grav_b=(+0.01,+0.06,-1.00) r=1.63m +[headless_play] t= 18.10s step= 905 trunk_z= 73.1mm grav_b=(-0.06,+0.09,-0.99) r=1.62m +[headless_play] t= 18.20s step= 910 trunk_z= 67.6mm grav_b=(-0.10,-0.04,-0.99) r=1.60m +[headless_play] t= 18.30s step= 915 trunk_z= 74.3mm grav_b=(-0.06,-0.05,-1.00) r=1.59m +[headless_play] t= 18.40s step= 920 trunk_z= 68.5mm grav_b=(-0.03,+0.04,-1.00) r=1.58m +[headless_play] t= 18.50s step= 925 trunk_z= 71.5mm grav_b=(+0.01,+0.01,-1.00) r=1.58m +[headless_play] t= 18.60s step= 930 trunk_z= 73.3mm grav_b=(+0.00,-0.14,-0.99) r=1.56m +[headless_play] t= 18.70s step= 935 trunk_z= 78.9mm grav_b=(-0.02,-0.08,-1.00) r=1.55m +[headless_play] t= 18.80s step= 940 trunk_z= 70.5mm grav_b=(-0.04,+0.07,-1.00) r=1.53m +[headless_play] t= 18.90s step= 945 trunk_z= 71.3mm grav_b=(+0.03,-0.02,-1.00) r=1.52m +[headless_play] t= 19.00s step= 950 trunk_z= 67.4mm grav_b=(+0.07,+0.04,-1.00) r=1.49m +[headless_play] t= 19.10s step= 955 trunk_z= 74.6mm grav_b=(+0.37,+0.01,-0.93) r=1.44m +[headless_play] RESET at t= 19.18s step= 959 (env termination, not a recovery) +[headless_play] t= 19.20s step= 960 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 115.7mm grav_b=(+0.00,-0.01,-1.00) r=0.44m +[headless_play] t= 19.40s step= 970 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 19.50s step= 975 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 19.60s step= 980 trunk_z= 116.5mm grav_b=(-0.01,-0.01,-1.00) r=0.45m +[headless_play] t= 19.70s step= 985 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 19.80s step= 990 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 20.00s step=1000 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..75cdab8644a369c4d6e07c997bdc772b887bf2ef --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.089,-18.018,+0.196) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(-0.01,+0.00,-1.00) r=0.09m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.02,+0.03,-1.00) r=0.09m +[headless_play] t= 0.20s step= 10 trunk_z= 118.0mm grav_b=(+0.06,+0.01,-1.00) r=0.08m +[headless_play] t= 0.30s step= 15 trunk_z= 120.0mm grav_b=(+0.09,+0.01,-1.00) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 121.8mm grav_b=(+0.09,+0.06,-0.99) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.06,-0.09,-0.99) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 120.5mm grav_b=(+0.01,+0.01,-1.00) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 123.2mm grav_b=(+0.04,+0.15,-0.99) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 130.1mm grav_b=(+0.04,+0.06,-1.00) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 119.5mm grav_b=(+0.00,-0.08,-1.00) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 124.1mm grav_b=(-0.04,+0.01,-1.00) r=0.11m +[headless_play] t= 1.10s step= 55 trunk_z= 122.4mm grav_b=(+0.06,+0.12,-0.99) r=0.13m +[headless_play] t= 1.20s step= 60 trunk_z= 118.8mm grav_b=(+0.08,-0.08,-0.99) r=0.15m +[headless_play] t= 1.30s step= 65 trunk_z= 123.8mm grav_b=(-0.02,-0.02,-1.00) r=0.17m +[headless_play] t= 1.40s step= 70 trunk_z= 119.7mm grav_b=(+0.03,+0.12,-0.99) r=0.18m +[headless_play] t= 1.50s step= 75 trunk_z= 120.9mm grav_b=(+0.04,-0.06,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.22m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.03,+0.15,-0.99) r=0.23m +[headless_play] t= 1.80s step= 90 trunk_z= 117.9mm grav_b=(-0.01,-0.06,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 118.2mm grav_b=(+0.01,+0.03,-1.00) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 120.2mm grav_b=(+0.03,+0.10,-0.99) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 118.1mm grav_b=(-0.00,-0.09,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 119.2mm grav_b=(+0.02,+0.05,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 123.0mm grav_b=(+0.04,+0.05,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 121.3mm grav_b=(+0.01,-0.08,-1.00) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 118.6mm grav_b=(+0.02,+0.10,-0.99) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 122.9mm grav_b=(+0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 120.9mm grav_b=(+0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 2.80s step= 140 trunk_z= 119.7mm grav_b=(+0.03,+0.12,-0.99) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 119.5mm grav_b=(-0.00,-0.07,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 120.5mm grav_b=(+0.03,+0.05,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 120.4mm grav_b=(+0.00,+0.05,-1.00) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 120.9mm grav_b=(+0.02,-0.09,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 121.0mm grav_b=(+0.00,+0.08,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 124.7mm grav_b=(+0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 3.50s step= 175 trunk_z= 117.6mm grav_b=(+0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.03,+0.11,-0.99) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 122.5mm grav_b=(+0.07,+0.11,-0.99) r=0.51m +[headless_play] t= 3.80s step= 190 trunk_z= 118.1mm grav_b=(+0.01,-0.04,-1.00) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 119.6mm grav_b=(+0.03,-0.02,-1.00) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 117.2mm grav_b=(+0.09,+0.12,-0.99) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 119.7mm grav_b=(+0.02,-0.04,-1.00) r=0.59m +[headless_play] t= 4.20s step= 210 trunk_z= 120.3mm grav_b=(+0.07,-0.08,-0.99) r=0.61m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(-0.01,+0.12,-0.99) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 119.8mm grav_b=(+0.01,+0.02,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 119.1mm grav_b=(+0.04,-0.09,-1.00) r=0.68m +[headless_play] t= 4.60s step= 230 trunk_z= 115.2mm grav_b=(+0.09,+0.09,-0.99) r=0.70m +[headless_play] t= 4.70s step= 235 trunk_z= 125.2mm grav_b=(+0.13,+0.03,-0.99) r=0.72m +[headless_play] t= 4.80s step= 240 trunk_z= 108.4mm grav_b=(+0.10,-0.10,-0.99) r=0.75m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.03,+0.20,-0.98) r=0.77m +[headless_play] t= 5.00s step= 250 trunk_z= 130.3mm grav_b=(+0.15,+0.13,-0.98) r=0.79m +[headless_play] t= 5.10s step= 255 trunk_z= 106.1mm grav_b=(+0.17,-0.04,-0.98) r=0.83m +[headless_play] t= 5.20s step= 260 trunk_z= 82.5mm grav_b=(-0.17,-0.10,-0.98) r=0.86m +[headless_play] t= 5.30s step= 265 trunk_z= 100.6mm grav_b=(-0.21,+0.00,-0.98) r=0.87m +[headless_play] t= 5.40s step= 270 trunk_z= 110.5mm grav_b=(+0.01,-0.01,-1.00) r=0.88m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(+0.03,-0.08,-1.00) r=0.88m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(+0.07,+0.08,-0.99) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 118.5mm grav_b=(+0.09,-0.07,-0.99) r=0.87m +[headless_play] t= 5.80s step= 290 trunk_z= 120.0mm grav_b=(+0.01,+0.19,-0.98) r=0.87m +[headless_play] t= 5.90s step= 295 trunk_z= 118.9mm grav_b=(+0.04,+0.21,-0.98) r=0.87m +[headless_play] t= 6.00s step= 300 trunk_z= 112.9mm grav_b=(-0.02,-0.13,-0.99) r=0.88m +[headless_play] t= 6.10s step= 305 trunk_z= 115.8mm grav_b=(-0.09,-0.02,-1.00) r=0.89m +[headless_play] t= 6.20s step= 310 trunk_z= 116.5mm grav_b=(+0.05,+0.04,-1.00) r=0.88m +[headless_play] t= 6.30s step= 315 trunk_z= 120.9mm grav_b=(+0.09,-0.07,-0.99) r=0.89m +[headless_play] t= 6.40s step= 320 trunk_z= 118.4mm grav_b=(+0.12,+0.16,-0.98) r=0.88m +[headless_play] t= 6.50s step= 325 trunk_z= 115.8mm grav_b=(+0.14,+0.04,-0.99) r=0.88m +[headless_play] t= 6.60s step= 330 trunk_z= 104.4mm grav_b=(-0.02,-0.12,-0.99) r=0.89m +[headless_play] t= 6.70s step= 335 trunk_z= 109.1mm grav_b=(-0.11,+0.06,-0.99) r=0.89m +[headless_play] t= 6.80s step= 340 trunk_z= 115.3mm grav_b=(+0.09,-0.04,-0.99) r=0.89m +[headless_play] t= 6.90s step= 345 trunk_z= 119.2mm grav_b=(+0.12,+0.15,-0.98) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 125.5mm grav_b=(+0.15,-0.02,-0.99) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 105.9mm grav_b=(+0.00,-0.13,-0.99) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 111.9mm grav_b=(-0.08,+0.06,-0.99) r=0.87m +[headless_play] t= 7.30s step= 365 trunk_z= 117.4mm grav_b=(+0.12,-0.07,-0.99) r=0.86m +[headless_play] t= 7.40s step= 370 trunk_z= 121.5mm grav_b=(+0.13,+0.05,-0.99) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 119.4mm grav_b=(+0.08,+0.12,-0.99) r=0.85m +[headless_play] t= 7.60s step= 380 trunk_z= 113.4mm grav_b=(-0.02,-0.10,-0.99) r=0.85m +[headless_play] t= 7.70s step= 385 trunk_z= 113.5mm grav_b=(-0.10,+0.05,-0.99) r=0.85m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.84m +[headless_play] t= 7.90s step= 395 trunk_z= 118.6mm grav_b=(+0.07,+0.02,-1.00) r=0.84m +[headless_play] t= 8.00s step= 400 trunk_z= 119.5mm grav_b=(+0.09,-0.05,-0.99) r=0.83m +[headless_play] t= 8.10s step= 405 trunk_z= 118.8mm grav_b=(+0.03,+0.02,-1.00) r=0.82m +[headless_play] t= 8.20s step= 410 trunk_z= 117.2mm grav_b=(+0.02,+0.04,-1.00) r=0.80m +[headless_play] t= 8.30s step= 415 trunk_z= 114.8mm grav_b=(+0.03,-0.08,-1.00) r=0.79m +[headless_play] t= 8.40s step= 420 trunk_z= 119.0mm grav_b=(-0.06,+0.11,-0.99) r=0.77m +[headless_play] t= 8.50s step= 425 trunk_z= 126.4mm grav_b=(-0.03,+0.15,-0.99) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 120.5mm grav_b=(+0.04,+0.02,-1.00) r=0.73m +[headless_play] t= 8.70s step= 435 trunk_z= 119.6mm grav_b=(+0.04,-0.01,-1.00) r=0.72m +[headless_play] t= 8.80s step= 440 trunk_z= 116.1mm grav_b=(+0.04,+0.15,-0.99) r=0.70m +[headless_play] t= 8.90s step= 445 trunk_z= 117.2mm grav_b=(+0.05,+0.07,-1.00) r=0.69m +[headless_play] t= 9.00s step= 450 trunk_z= 114.6mm grav_b=(+0.02,-0.09,-1.00) r=0.68m +[headless_play] t= 9.10s step= 455 trunk_z= 114.5mm grav_b=(+0.05,-0.01,-1.00) r=0.68m +[headless_play] t= 9.20s step= 460 trunk_z= 115.0mm grav_b=(+0.01,+0.12,-0.99) r=0.68m +[headless_play] t= 9.30s step= 465 trunk_z= 117.8mm grav_b=(+0.05,+0.08,-1.00) r=0.68m +[headless_play] t= 9.40s step= 470 trunk_z= 110.0mm grav_b=(+0.08,-0.06,-0.99) r=0.66m +[headless_play] t= 9.50s step= 475 trunk_z= 114.4mm grav_b=(+0.11,-0.03,-0.99) r=0.65m +[headless_play] t= 9.60s step= 480 trunk_z= 111.9mm grav_b=(+0.06,+0.11,-0.99) r=0.64m +[headless_play] t= 9.70s step= 485 trunk_z= 116.2mm grav_b=(+0.07,+0.05,-1.00) r=0.63m +[headless_play] t= 9.80s step= 490 trunk_z= 112.8mm grav_b=(+0.04,-0.09,-1.00) r=0.61m +[headless_play] t= 9.90s step= 495 trunk_z= 113.6mm grav_b=(+0.09,-0.02,-1.00) r=0.59m +[headless_play] t= 10.00s step= 500 trunk_z= 113.0mm grav_b=(+0.06,+0.08,-1.00) r=0.58m +[headless_play] t= 10.10s step= 505 trunk_z= 116.8mm grav_b=(+0.09,+0.03,-1.00) r=0.57m +[headless_play] t= 10.20s step= 510 trunk_z= 111.4mm grav_b=(+0.05,-0.09,-0.99) r=0.55m +[headless_play] t= 10.30s step= 515 trunk_z= 112.4mm grav_b=(+0.11,-0.02,-0.99) r=0.54m +[headless_play] t= 10.40s step= 520 trunk_z= 113.7mm grav_b=(+0.06,+0.03,-1.00) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 114.6mm grav_b=(+0.09,+0.01,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 116.3mm grav_b=(+0.07,+0.01,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 116.5mm grav_b=(+0.07,+0.01,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(+0.05,+0.02,-1.00) r=0.54m +[headless_play] t= 10.90s step= 545 trunk_z= 116.0mm grav_b=(+0.03,+0.02,-1.00) r=0.54m +[headless_play] t= 11.00s step= 550 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 115.9mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.50s step= 575 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.80s step= 590 trunk_z= 116.2mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.30s step= 615 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.54m +[headless_play] t= 12.70s step= 635 trunk_z= 119.5mm grav_b=(+0.11,+0.02,-0.99) r=0.50m +[headless_play] t= 12.80s step= 640 trunk_z= 121.3mm grav_b=(+0.19,-0.02,-0.98) r=0.47m +[headless_play] t= 12.90s step= 645 trunk_z= 104.3mm grav_b=(+0.04,+0.03,-1.00) r=0.44m +[headless_play] t= 13.00s step= 650 trunk_z= 113.8mm grav_b=(+0.18,+0.10,-0.98) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 120.3mm grav_b=(+0.31,-0.07,-0.95) r=0.41m +[headless_play] t= 13.20s step= 660 trunk_z= 76.9mm grav_b=(+0.17,-0.04,-0.98) r=0.39m +[headless_play] t= 13.30s step= 665 trunk_z= 103.1mm grav_b=(+0.18,-0.02,-0.98) r=0.39m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(-0.01,+0.03,-1.00) r=0.39m +[headless_play] t= 13.50s step= 675 trunk_z= 113.1mm grav_b=(-0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 13.60s step= 680 trunk_z= 119.8mm grav_b=(+0.05,-0.06,-1.00) r=0.37m +[headless_play] t= 13.70s step= 685 trunk_z= 125.1mm grav_b=(+0.10,+0.11,-0.99) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 111.6mm grav_b=(+0.09,+0.13,-0.99) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 111.1mm grav_b=(+0.01,+0.05,-1.00) r=0.37m +[headless_play] t= 14.00s step= 700 trunk_z= 115.0mm grav_b=(-0.06,+0.04,-1.00) r=0.37m +[headless_play] t= 14.10s step= 705 trunk_z= 116.5mm grav_b=(+0.00,+0.03,-1.00) r=0.38m +[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(+0.04,+0.03,-1.00) r=0.38m +[headless_play] t= 14.30s step= 715 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.40s step= 720 trunk_z= 116.5mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.50s step= 725 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.60s step= 730 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 116.9mm grav_b=(+0.03,+0.02,-1.00) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(+0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 15.10s step= 755 trunk_z= 116.7mm grav_b=(+0.00,+0.02,-1.00) r=0.37m +[headless_play] t= 15.20s step= 760 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 15.50s step= 775 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 15.70s step= 785 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 15.80s step= 790 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 16.00s step= 800 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.20s step= 810 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.40s step= 820 trunk_z= 116.9mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.50s step= 825 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(+0.00,+0.02,-1.00) r=0.37m +[headless_play] t= 16.80s step= 840 trunk_z= 118.7mm grav_b=(+0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 16.90s step= 845 trunk_z= 119.2mm grav_b=(+0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 17.00s step= 850 trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 17.10s step= 855 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=0.37m +[headless_play] t= 17.20s step= 860 trunk_z= 117.0mm grav_b=(-0.04,+0.02,-1.00) r=0.36m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.40s step= 870 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.50s step= 875 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.60s step= 880 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.80s step= 890 trunk_z= 117.2mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(-0.03,+0.02,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 117.4mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 18.20s step= 910 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.50s step= 925 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.70s step= 935 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.80s step= 940 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.20s step= 960 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.30s step= 965 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.40s step= 970 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.50s step= 975 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.60s step= 980 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 19.90s step= 995 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[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=0.25m +[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.02,+0.04,-1.00) r=0.25m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..902e2b9630a049bb6e1b62a81d4026ca577e77c4 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.347,-18.275,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 119.1mm grav_b=(-0.01,+0.07,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 123.8mm grav_b=(-0.03,+0.09,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(-0.06,-0.04,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 121.8mm grav_b=(-0.07,-0.07,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 125.8mm grav_b=(-0.03,+0.06,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 117.5mm grav_b=(-0.02,-0.07,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 119.4mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 0.90s step= 45 trunk_z= 123.1mm grav_b=(-0.05,+0.09,-0.99) r=0.34m +[headless_play] t= 1.00s step= 50 trunk_z= 121.0mm grav_b=(-0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 1.10s step= 55 trunk_z= 122.2mm grav_b=(-0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 1.20s step= 60 trunk_z= 119.4mm grav_b=(+0.01,+0.03,-1.00) r=0.31m +[headless_play] t= 1.30s step= 65 trunk_z= 125.7mm grav_b=(-0.06,+0.11,-0.99) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 118.2mm grav_b=(-0.08,-0.03,-1.00) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 119.7mm grav_b=(-0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(+0.01,+0.13,-0.99) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 126.9mm grav_b=(-0.06,+0.06,-1.00) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 119.2mm grav_b=(-0.03,-0.11,-0.99) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 122.5mm grav_b=(+0.03,+0.07,-1.00) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 116.3mm grav_b=(-0.09,-0.12,-0.99) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 121.9mm grav_b=(-0.03,-0.06,-1.00) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 119.5mm grav_b=(-0.02,+0.10,-0.99) r=0.31m +[headless_play] t= 2.40s step= 120 trunk_z= 122.7mm grav_b=(-0.02,+0.04,-1.00) r=0.32m +[headless_play] t= 2.50s step= 125 trunk_z= 120.8mm grav_b=(-0.02,-0.08,-1.00) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(-0.04,+0.06,-1.00) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 124.4mm grav_b=(-0.02,+0.08,-1.00) r=0.35m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(-0.02,-0.06,-1.00) r=0.37m +[headless_play] t= 2.90s step= 145 trunk_z= 117.9mm grav_b=(-0.01,+0.08,-1.00) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 124.4mm grav_b=(-0.01,+0.08,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 118.7mm grav_b=(-0.05,-0.09,-0.99) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 121.8mm grav_b=(+0.00,+0.05,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 120.2mm grav_b=(+0.03,-0.09,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 123.7mm grav_b=(+0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 119.9mm grav_b=(-0.15,+0.17,-0.97) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 129.5mm grav_b=(-0.10,+0.10,-0.99) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.00,-0.07,-1.00) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 112.5mm grav_b=(+0.12,+0.01,-0.99) r=0.61m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(+0.11,+0.09,-0.99) r=0.61m +[headless_play] t= 4.10s step= 205 trunk_z= 128.3mm grav_b=(+0.05,-0.08,-1.00) r=0.64m +[headless_play] t= 4.20s step= 210 trunk_z= 103.2mm grav_b=(-0.27,-0.09,-0.96) r=0.68m +[headless_play] t= 4.30s step= 215 trunk_z= 106.0mm grav_b=(-0.23,+0.10,-0.97) r=0.71m +[headless_play] t= 4.40s step= 220 trunk_z= 96.1mm grav_b=(+0.00,+0.18,-0.98) r=0.73m +[headless_play] t= 4.50s step= 225 trunk_z= 106.6mm grav_b=(+0.13,-0.04,-0.99) r=0.73m +[headless_play] t= 4.60s step= 230 trunk_z= 130.4mm grav_b=(-0.09,-0.04,-1.00) r=0.74m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(-0.04,+0.09,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 123.4mm grav_b=(-0.11,+0.11,-0.99) r=0.80m +[headless_play] t= 4.90s step= 245 trunk_z= 116.2mm grav_b=(-0.12,+0.05,-0.99) r=0.84m +[headless_play] t= 5.00s step= 250 trunk_z= 118.2mm grav_b=(-0.12,+0.10,-0.99) r=0.85m +[headless_play] t= 5.10s step= 255 trunk_z= 104.0mm grav_b=(+0.04,+0.12,-0.99) r=0.86m +[headless_play] t= 5.20s step= 260 trunk_z= 98.3mm grav_b=(+0.19,-0.08,-0.98) r=0.88m +[headless_play] t= 5.30s step= 265 trunk_z= 120.9mm grav_b=(+0.02,-0.04,-1.00) r=0.89m +[headless_play] t= 5.40s step= 270 trunk_z= 110.2mm grav_b=(-0.08,+0.14,-0.99) r=0.90m +[headless_play] t= 5.50s step= 275 trunk_z= 119.4mm grav_b=(-0.17,+0.13,-0.98) r=0.92m +[headless_play] t= 5.60s step= 280 trunk_z= 119.4mm grav_b=(-0.09,+0.07,-0.99) r=0.94m +[headless_play] t= 5.70s step= 285 trunk_z= 111.2mm grav_b=(-0.00,+0.16,-0.99) r=0.93m +[headless_play] t= 5.80s step= 290 trunk_z= 115.4mm grav_b=(+0.06,+0.03,-1.00) r=0.94m +[headless_play] t= 5.90s step= 295 trunk_z= 117.1mm grav_b=(+0.02,-0.15,-0.99) r=0.94m +[headless_play] t= 6.00s step= 300 trunk_z= 126.2mm grav_b=(-0.02,-0.12,-0.99) r=0.95m +[headless_play] t= 6.10s step= 305 trunk_z= 123.2mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 6.20s step= 310 trunk_z= 123.8mm grav_b=(-0.03,+0.05,-1.00) r=0.94m +[headless_play] t= 6.30s step= 315 trunk_z= 118.1mm grav_b=(-0.04,-0.06,-1.00) r=0.94m +[headless_play] t= 6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.02,+0.06,-1.00) r=0.94m +[headless_play] t= 6.50s step= 325 trunk_z= 122.7mm grav_b=(-0.02,+0.07,-1.00) r=0.94m +[headless_play] t= 6.60s step= 330 trunk_z= 115.0mm grav_b=(-0.03,-0.06,-1.00) r=0.92m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(+0.00,+0.13,-0.99) r=0.89m +[headless_play] t= 6.80s step= 340 trunk_z= 120.7mm grav_b=(-0.05,+0.04,-1.00) r=0.86m +[headless_play] t= 6.90s step= 345 trunk_z= 118.7mm grav_b=(-0.05,-0.00,-1.00) r=0.85m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(+0.02,+0.13,-0.99) r=0.83m +[headless_play] t= 7.10s step= 355 trunk_z= 120.0mm grav_b=(+0.01,+0.08,-1.00) r=0.82m +[headless_play] t= 7.20s step= 360 trunk_z= 116.3mm grav_b=(-0.04,-0.07,-1.00) r=0.82m +[headless_play] t= 7.30s step= 365 trunk_z= 117.3mm grav_b=(+0.02,-0.02,-1.00) r=0.82m +[headless_play] t= 7.40s step= 370 trunk_z= 117.0mm grav_b=(+0.01,+0.06,-1.00) r=0.81m +[headless_play] t= 7.50s step= 375 trunk_z= 119.2mm grav_b=(-0.01,-0.01,-1.00) r=0.80m +[headless_play] t= 7.60s step= 380 trunk_z= 119.0mm grav_b=(-0.00,-0.08,-1.00) r=0.80m +[headless_play] t= 7.70s step= 385 trunk_z= 116.3mm grav_b=(+0.03,+0.00,-1.00) r=0.80m +[headless_play] t= 7.80s step= 390 trunk_z= 119.9mm grav_b=(-0.00,+0.05,-1.00) r=0.79m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(-0.03,-0.04,-1.00) r=0.78m +[headless_play] t= 8.00s step= 400 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.78m +[headless_play] t= 8.10s step= 405 trunk_z= 114.9mm grav_b=(+0.04,+0.06,-1.00) r=0.77m +[headless_play] t= 8.20s step= 410 trunk_z= 121.2mm grav_b=(-0.01,+0.05,-1.00) r=0.76m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(-0.04,-0.07,-1.00) r=0.76m +[headless_play] t= 8.40s step= 420 trunk_z= 118.0mm grav_b=(+0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 8.50s step= 425 trunk_z= 117.3mm grav_b=(-0.01,+0.06,-1.00) r=0.75m +[headless_play] t= 8.60s step= 430 trunk_z= 120.8mm grav_b=(-0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 8.70s step= 435 trunk_z= 115.1mm grav_b=(-0.01,-0.07,-1.00) r=0.75m +[headless_play] t= 8.80s step= 440 trunk_z= 117.4mm grav_b=(+0.03,-0.00,-1.00) r=0.76m +[headless_play] t= 8.90s step= 445 trunk_z= 118.4mm grav_b=(-0.01,+0.07,-1.00) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 120.2mm grav_b=(-0.02,+0.02,-1.00) r=0.75m +[headless_play] t= 9.10s step= 455 trunk_z= 115.8mm grav_b=(+0.03,-0.07,-1.00) r=0.76m +[headless_play] t= 9.20s step= 460 trunk_z= 116.4mm grav_b=(+0.01,+0.03,-1.00) r=0.76m +[headless_play] t= 9.30s step= 465 trunk_z= 122.2mm grav_b=(-0.02,+0.08,-1.00) r=0.77m +[headless_play] t= 9.40s step= 470 trunk_z= 114.4mm grav_b=(-0.01,-0.05,-1.00) r=0.77m +[headless_play] t= 9.50s step= 475 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.79m +[headless_play] t= 9.60s step= 480 trunk_z= 116.5mm grav_b=(-0.01,+0.11,-0.99) r=0.79m +[headless_play] t= 9.70s step= 485 trunk_z= 119.9mm grav_b=(-0.00,+0.03,-1.00) r=0.80m +[headless_play] t= 9.80s step= 490 trunk_z= 115.9mm grav_b=(+0.02,-0.06,-1.00) r=0.82m +[headless_play] t= 9.90s step= 495 trunk_z= 115.9mm grav_b=(+0.00,+0.06,-1.00) r=0.83m +[headless_play] t= 10.00s step= 500 trunk_z= 120.3mm grav_b=(-0.01,+0.06,-1.00) r=0.85m +[headless_play] t= 10.10s step= 505 trunk_z= 111.7mm grav_b=(+0.03,-0.11,-0.99) r=0.86m +[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.87m +[headless_play] t= 10.30s step= 515 trunk_z= 120.2mm grav_b=(-0.04,+0.12,-0.99) r=0.88m +[headless_play] t= 10.40s step= 520 trunk_z= 121.2mm grav_b=(-0.02,+0.03,-1.00) r=0.89m +[headless_play] t= 10.50s step= 525 trunk_z= 119.6mm grav_b=(-0.01,-0.07,-1.00) r=0.91m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(-0.00,+0.07,-1.00) r=0.92m +[headless_play] t= 10.70s step= 535 trunk_z= 122.9mm grav_b=(-0.02,+0.09,-1.00) r=0.93m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(-0.01,-0.09,-1.00) r=0.94m +[headless_play] t= 10.90s step= 545 trunk_z= 122.1mm grav_b=(+0.04,-0.06,-1.00) r=0.96m +[headless_play] t= 11.00s step= 550 trunk_z= 116.9mm grav_b=(-0.01,+0.13,-0.99) r=0.97m +[headless_play] t= 11.10s step= 555 trunk_z= 122.7mm grav_b=(-0.06,+0.05,-1.00) r=0.98m +[headless_play] t= 11.20s step= 560 trunk_z= 120.1mm grav_b=(+0.02,-0.07,-1.00) r=1.00m +[headless_play] t= 11.30s step= 565 trunk_z= 118.2mm grav_b=(+0.01,+0.07,-1.00) r=1.01m +[headless_play] t= 11.40s step= 570 trunk_z= 119.3mm grav_b=(-0.07,-0.07,-0.99) r=1.03m +[headless_play] t= 11.50s step= 575 trunk_z= 95.7mm grav_b=(-0.22,-0.25,-0.94) r=1.07m +[headless_play] t= 11.60s step= 580 trunk_z= 105.9mm grav_b=(-0.22,-0.10,-0.97) r=1.10m +[headless_play] t= 11.70s step= 585 trunk_z= 74.0mm grav_b=(-0.25,+0.27,-0.93) r=1.13m +[headless_play] t= 11.80s step= 590 trunk_z= 77.9mm grav_b=(-0.07,+0.11,-0.99) r=1.15m +[headless_play] t= 11.90s step= 595 trunk_z= 79.6mm grav_b=(+0.05,+0.10,-0.99) r=1.14m +[headless_play] t= 12.00s step= 600 trunk_z= 90.5mm grav_b=(+0.06,+0.25,-0.97) r=1.13m +[headless_play] t= 12.10s step= 605 trunk_z= 105.5mm grav_b=(-0.02,+0.07,-1.00) r=1.13m +[headless_play] t= 12.20s step= 610 trunk_z= 97.9mm grav_b=(-0.18,-0.05,-0.98) r=1.12m +[headless_play] t= 12.30s step= 615 trunk_z= 97.1mm grav_b=(-0.14,+0.08,-0.99) r=1.11m +[headless_play] t= 12.40s step= 620 trunk_z= 97.1mm grav_b=(-0.01,+0.21,-0.98) r=1.10m +[headless_play] t= 12.50s step= 625 trunk_z= 99.4mm grav_b=(-0.04,+0.10,-0.99) r=1.10m +[headless_play] t= 12.60s step= 630 trunk_z= 96.8mm grav_b=(+0.00,-0.02,-1.00) r=1.11m +[headless_play] t= 12.70s step= 635 trunk_z= 95.1mm grav_b=(-0.05,+0.06,-1.00) r=1.12m +[headless_play] t= 12.80s step= 640 trunk_z= 100.1mm grav_b=(-0.05,+0.07,-1.00) r=1.11m +[headless_play] t= 12.90s step= 645 trunk_z= 96.3mm grav_b=(-0.02,-0.01,-1.00) r=1.13m +[headless_play] t= 13.00s step= 650 trunk_z= 98.5mm grav_b=(-0.02,-0.01,-1.00) r=1.14m +[headless_play] t= 13.10s step= 655 trunk_z= 92.0mm grav_b=(-0.04,+0.11,-0.99) r=1.14m +[headless_play] t= 13.20s step= 660 trunk_z= 93.7mm grav_b=(-0.12,-0.01,-0.99) r=1.15m +[headless_play] t= 13.30s step= 665 trunk_z= 93.4mm grav_b=(-0.10,-0.04,-0.99) r=1.16m +[headless_play] t= 13.40s step= 670 trunk_z= 95.3mm grav_b=(-0.06,+0.08,-0.99) r=1.16m +[headless_play] t= 13.50s step= 675 trunk_z= 102.8mm grav_b=(-0.02,+0.03,-1.00) r=1.15m +[headless_play] t= 13.60s step= 680 trunk_z= 89.3mm grav_b=(-0.12,-0.05,-0.99) r=1.16m +[headless_play] t= 13.70s step= 685 trunk_z= 93.0mm grav_b=(-0.09,+0.09,-0.99) r=1.16m +[headless_play] t= 13.80s step= 690 trunk_z= 102.9mm grav_b=(-0.04,+0.03,-1.00) r=1.17m +[headless_play] t= 13.90s step= 695 trunk_z= 88.1mm grav_b=(-0.12,-0.09,-0.99) r=1.19m +[headless_play] t= 14.00s step= 700 trunk_z= 94.3mm grav_b=(-0.10,+0.05,-0.99) r=1.20m +[headless_play] t= 14.10s step= 705 trunk_z= 99.9mm grav_b=(-0.01,+0.07,-1.00) r=1.20m +[headless_play] t= 14.20s step= 710 trunk_z= 91.4mm grav_b=(-0.11,-0.15,-0.98) r=1.21m +[headless_play] t= 14.30s step= 715 trunk_z= 99.8mm grav_b=(-0.05,-0.08,-1.00) r=1.22m +[headless_play] t= 14.40s step= 720 trunk_z= 103.3mm grav_b=(+0.10,-0.02,-0.99) r=1.23m +[headless_play] t= 14.50s step= 725 trunk_z= 98.2mm grav_b=(+0.17,-0.39,-0.91) r=1.25m +[headless_play] t= 14.60s step= 730 trunk_z= 78.4mm grav_b=(+0.74,-0.42,-0.53) r=1.25m +[headless_play] RESET at t= 14.64s step= 732 (env termination, not a recovery) +[headless_play] t= 14.70s step= 735 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 14.80s step= 740 trunk_z= 118.8mm grav_b=(-0.03,+0.08,-1.00) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 118.1mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 15.10s step= 755 trunk_z= 113.5mm grav_b=(-0.03,+0.08,-1.00) r=0.45m +[headless_play] t= 15.20s step= 760 trunk_z= 116.5mm grav_b=(-0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 15.30s step= 765 trunk_z= 115.4mm grav_b=(+0.00,-0.06,-1.00) r=0.45m +[headless_play] t= 15.40s step= 770 trunk_z= 114.3mm grav_b=(-0.04,+0.10,-0.99) r=0.44m +[headless_play] t= 15.50s step= 775 trunk_z= 115.0mm grav_b=(-0.00,-0.08,-1.00) r=0.44m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(+0.00,-0.05,-1.00) r=0.44m +[headless_play] t= 15.70s step= 785 trunk_z= 114.7mm grav_b=(-0.04,+0.08,-1.00) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 119.6mm grav_b=(-0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(-0.00,-0.08,-1.00) r=0.44m +[headless_play] t= 16.00s step= 800 trunk_z= 114.3mm grav_b=(-0.00,+0.05,-1.00) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 120.7mm grav_b=(-0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(-0.03,-0.09,-1.00) r=0.43m +[headless_play] t= 16.30s step= 815 trunk_z= 115.3mm grav_b=(-0.02,+0.05,-1.00) r=0.42m +[headless_play] t= 16.40s step= 820 trunk_z= 117.7mm grav_b=(-0.00,+0.08,-1.00) r=0.42m +[headless_play] t= 16.50s step= 825 trunk_z= 113.2mm grav_b=(-0.02,-0.09,-1.00) r=0.42m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.42m +[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(-0.02,+0.10,-1.00) r=0.42m +[headless_play] t= 16.80s step= 840 trunk_z= 118.5mm grav_b=(-0.05,-0.05,-1.00) r=0.42m +[headless_play] t= 16.90s step= 845 trunk_z= 118.6mm grav_b=(-0.01,-0.07,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 115.5mm grav_b=(+0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 17.10s step= 855 trunk_z= 119.4mm grav_b=(-0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(-0.04,-0.13,-0.99) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(+0.01,+0.02,-1.00) r=0.45m +[headless_play] t= 17.40s step= 870 trunk_z= 119.8mm grav_b=(-0.03,+0.08,-1.00) r=0.45m +[headless_play] t= 17.50s step= 875 trunk_z= 115.2mm grav_b=(-0.06,-0.12,-0.99) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(+0.00,-0.01,-1.00) r=0.47m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(-0.02,+0.07,-1.00) r=0.47m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(-0.01,-0.07,-1.00) r=0.48m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(+0.01,-0.05,-1.00) r=0.50m +[headless_play] t= 18.00s step= 900 trunk_z= 114.7mm grav_b=(-0.05,+0.12,-0.99) r=0.51m +[headless_play] t= 18.10s step= 905 trunk_z= 120.0mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 117.1mm grav_b=(-0.02,-0.13,-0.99) r=0.53m +[headless_play] t= 18.30s step= 915 trunk_z= 117.6mm grav_b=(+0.02,+0.03,-1.00) r=0.54m +[headless_play] t= 18.40s step= 920 trunk_z= 121.5mm grav_b=(-0.09,+0.08,-0.99) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 115.2mm grav_b=(-0.08,-0.17,-0.98) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 120.0mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 121.2mm grav_b=(-0.02,+0.14,-0.99) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(-0.13,-0.07,-0.99) r=0.57m +[headless_play] t= 18.90s step= 945 trunk_z= 126.2mm grav_b=(-0.10,-0.00,-0.99) r=0.58m +[headless_play] t= 19.00s step= 950 trunk_z= 118.3mm grav_b=(-0.09,+0.14,-0.99) r=0.58m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00) r=0.59m +[headless_play] t= 19.20s step= 960 trunk_z= 119.1mm grav_b=(+0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 19.30s step= 965 trunk_z= 119.3mm grav_b=(-0.07,+0.17,-0.98) r=0.61m +[headless_play] t= 19.40s step= 970 trunk_z= 118.7mm grav_b=(-0.16,-0.01,-0.99) r=0.63m +[headless_play] t= 19.50s step= 975 trunk_z= 125.5mm grav_b=(-0.06,-0.01,-1.00) r=0.64m +[headless_play] t= 19.60s step= 980 trunk_z= 114.7mm grav_b=(+0.01,+0.16,-0.99) r=0.64m +[headless_play] t= 19.70s step= 985 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.63m +[headless_play] t= 19.80s step= 990 trunk_z= 119.0mm grav_b=(-0.12,-0.01,-0.99) r=0.64m +[headless_play] t= 19.90s step= 995 trunk_z= 114.0mm grav_b=(-0.07,+0.03,-1.00) r=0.64m +[headless_play] t= 20.00s step=1000 trunk_z= 111.6mm grav_b=(+0.05,-0.10,-0.99) r=0.64m +[headless_play] t= 20.10s step=1005 trunk_z= 110.7mm grav_b=(+0.00,+0.11,-0.99) r=0.64m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..5a5bbfb8f840db44c2bde761474a1678be3bf7e1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.460,-17.944,+0.199) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.09,-0.00,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 117.5mm grav_b=(-0.06,-0.03,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 117.5mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 118.5mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 118.4mm grav_b=(-0.02,-0.03,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 118.1mm grav_b=(-0.04,-0.03,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 117.8mm grav_b=(-0.06,-0.02,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 117.7mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 117.9mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 117.9mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 117.9mm grav_b=(-0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 118.0mm grav_b=(-0.08,-0.01,-1.00) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.12,-0.01,-0.99) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.16,-0.02,-0.99) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(-0.14,-0.01,-0.99) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 107.2mm grav_b=(-0.08,+0.07,-0.99) r=0.45m +[headless_play] t= 4.90s step= 245 trunk_z= 108.7mm grav_b=(-0.00,-0.12,-0.99) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 113.1mm grav_b=(-0.02,-0.15,-0.99) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(-0.01,-0.06,-1.00) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 121.0mm grav_b=(-0.05,-0.01,-1.00) r=0.45m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.04,-0.14,-0.99) r=0.44m +[headless_play] t= 5.40s step= 270 trunk_z= 121.0mm grav_b=(-0.05,-0.05,-1.00) r=0.43m +[headless_play] t= 5.50s step= 275 trunk_z= 121.5mm grav_b=(-0.07,+0.03,-1.00) r=0.41m +[headless_play] t= 5.60s step= 280 trunk_z= 119.0mm grav_b=(-0.08,-0.12,-0.99) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 121.6mm grav_b=(-0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 122.1mm grav_b=(-0.08,+0.05,-1.00) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 116.5mm grav_b=(-0.11,-0.11,-0.99) r=0.36m +[headless_play] t= 6.00s step= 300 trunk_z= 119.8mm grav_b=(-0.08,-0.05,-1.00) r=0.35m +[headless_play] t= 6.10s step= 305 trunk_z= 121.5mm grav_b=(-0.09,+0.06,-0.99) r=0.33m +[headless_play] t= 6.20s step= 310 trunk_z= 117.8mm grav_b=(-0.10,-0.06,-0.99) r=0.32m +[headless_play] t= 6.30s step= 315 trunk_z= 120.4mm grav_b=(-0.09,-0.08,-0.99) r=0.31m +[headless_play] t= 6.40s step= 320 trunk_z= 119.0mm grav_b=(-0.09,+0.04,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 119.6mm grav_b=(-0.07,-0.02,-1.00) r=0.28m +[headless_play] t= 6.60s step= 330 trunk_z= 117.9mm grav_b=(-0.06,-0.06,-1.00) r=0.26m +[headless_play] t= 6.70s step= 335 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 6.80s step= 340 trunk_z= 118.3mm grav_b=(-0.03,-0.07,-1.00) r=0.24m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(-0.05,+0.03,-1.00) r=0.23m +[headless_play] t= 7.00s step= 350 trunk_z= 117.4mm grav_b=(-0.08,-0.07,-0.99) r=0.22m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(-0.06,+0.00,-1.00) r=0.22m +[headless_play] t= 7.20s step= 360 trunk_z= 118.4mm grav_b=(-0.06,-0.06,-1.00) r=0.21m +[headless_play] t= 7.30s step= 365 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.21m +[headless_play] t= 7.40s step= 370 trunk_z= 118.2mm grav_b=(-0.05,-0.05,-1.00) r=0.21m +[headless_play] t= 7.50s step= 375 trunk_z= 118.2mm grav_b=(-0.06,-0.04,-1.00) r=0.21m +[headless_play] t= 7.60s step= 380 trunk_z= 118.3mm grav_b=(-0.07,-0.04,-1.00) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 118.4mm grav_b=(-0.06,-0.05,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 118.3mm grav_b=(-0.06,-0.05,-1.00) r=0.21m +[headless_play] t= 7.90s step= 395 trunk_z= 118.5mm grav_b=(-0.06,-0.05,-1.00) r=0.21m +[headless_play] t= 8.00s step= 400 trunk_z= 118.5mm grav_b=(-0.06,-0.05,-1.00) r=0.21m +[headless_play] t= 8.10s step= 405 trunk_z= 118.4mm grav_b=(-0.06,-0.04,-1.00) r=0.21m +[headless_play] t= 8.20s step= 410 trunk_z= 118.4mm grav_b=(-0.07,-0.04,-1.00) r=0.21m +[headless_play] t= 8.30s step= 415 trunk_z= 118.1mm grav_b=(-0.07,-0.04,-1.00) r=0.21m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.06,-0.02,-1.00) r=0.21m +[headless_play] t= 8.50s step= 425 trunk_z= 117.2mm grav_b=(-0.05,-0.07,-1.00) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 115.0mm grav_b=(-0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 8.70s step= 435 trunk_z= 114.2mm grav_b=(-0.04,+0.04,-1.00) r=0.18m +[headless_play] t= 8.80s step= 440 trunk_z= 115.3mm grav_b=(-0.10,-0.06,-0.99) r=0.17m +[headless_play] t= 8.90s step= 445 trunk_z= 114.1mm grav_b=(-0.08,-0.14,-0.99) r=0.16m +[headless_play] t= 9.00s step= 450 trunk_z= 114.4mm grav_b=(-0.01,-0.08,-1.00) r=0.16m +[headless_play] t= 9.10s step= 455 trunk_z= 110.3mm grav_b=(-0.00,+0.02,-1.00) r=0.16m +[headless_play] t= 9.20s step= 460 trunk_z= 116.8mm grav_b=(-0.19,-0.14,-0.97) r=0.20m +[headless_play] t= 9.30s step= 465 trunk_z= 109.7mm grav_b=(-0.49,-0.16,-0.86) r=0.23m +[headless_play] t= 9.40s step= 470 trunk_z= 70.1mm grav_b=(-0.77,-0.24,-0.59) r=0.28m +[headless_play] RESET at t= 9.44s step= 472 (env termination, not a recovery) +[headless_play] t= 9.50s step= 475 trunk_z= 113.4mm grav_b=(-0.03,+0.00,-1.00) r=0.16m +[headless_play] t= 9.60s step= 480 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.17m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(-0.04,-0.05,-1.00) r=0.17m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(-0.05,+0.02,-1.00) r=0.17m +[headless_play] t= 10.00s step= 500 trunk_z= 118.2mm grav_b=(-0.07,+0.00,-1.00) r=0.17m +[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(-0.11,-0.08,-0.99) r=0.17m +[headless_play] t= 10.20s step= 510 trunk_z= 116.5mm grav_b=(-0.12,+0.05,-0.99) r=0.17m +[headless_play] t= 10.30s step= 515 trunk_z= 117.5mm grav_b=(-0.08,-0.02,-1.00) r=0.18m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(-0.04,-0.00,-1.00) r=0.18m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(-0.04,-0.03,-1.00) r=0.18m +[headless_play] t= 10.60s step= 530 trunk_z= 117.9mm grav_b=(-0.04,-0.03,-1.00) r=0.18m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(-0.07,+0.01,-1.00) r=0.18m +[headless_play] t= 10.80s step= 540 trunk_z= 118.8mm grav_b=(-0.11,-0.06,-0.99) r=0.19m +[headless_play] t= 10.90s step= 545 trunk_z= 118.7mm grav_b=(-0.11,-0.04,-0.99) r=0.19m +[headless_play] t= 11.00s step= 550 trunk_z= 117.2mm grav_b=(-0.07,+0.05,-1.00) r=0.19m +[headless_play] t= 11.10s step= 555 trunk_z= 118.0mm grav_b=(-0.09,-0.08,-0.99) r=0.20m +[headless_play] t= 11.20s step= 560 trunk_z= 118.1mm grav_b=(-0.08,+0.00,-1.00) r=0.20m +[headless_play] t= 11.30s step= 565 trunk_z= 118.8mm grav_b=(-0.07,+0.08,-0.99) r=0.21m +[headless_play] t= 11.40s step= 570 trunk_z= 117.3mm grav_b=(-0.10,-0.08,-0.99) r=0.21m +[headless_play] t= 11.50s step= 575 trunk_z= 120.0mm grav_b=(-0.09,-0.02,-1.00) r=0.22m +[headless_play] t= 11.60s step= 580 trunk_z= 118.4mm grav_b=(-0.05,+0.10,-0.99) r=0.23m +[headless_play] t= 11.70s step= 585 trunk_z= 117.6mm grav_b=(-0.10,-0.05,-0.99) r=0.23m +[headless_play] t= 11.80s step= 590 trunk_z= 121.4mm grav_b=(-0.10,-0.06,-0.99) r=0.24m +[headless_play] t= 11.90s step= 595 trunk_z= 118.0mm grav_b=(-0.12,+0.11,-0.99) r=0.25m +[headless_play] t= 12.00s step= 600 trunk_z= 119.5mm grav_b=(-0.11,+0.00,-0.99) r=0.25m +[headless_play] t= 12.10s step= 605 trunk_z= 121.9mm grav_b=(-0.07,-0.08,-0.99) r=0.26m +[headless_play] t= 12.20s step= 610 trunk_z= 117.9mm grav_b=(-0.06,+0.13,-0.99) r=0.27m +[headless_play] t= 12.30s step= 615 trunk_z= 122.2mm grav_b=(-0.10,+0.06,-0.99) r=0.28m +[headless_play] t= 12.40s step= 620 trunk_z= 120.9mm grav_b=(-0.10,-0.09,-0.99) r=0.29m +[headless_play] t= 12.50s step= 625 trunk_z= 119.1mm grav_b=(-0.09,+0.07,-0.99) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 124.6mm grav_b=(-0.08,+0.09,-0.99) r=0.31m +[headless_play] t= 12.70s step= 635 trunk_z= 118.0mm grav_b=(-0.11,-0.08,-0.99) r=0.32m +[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(-0.11,+0.03,-0.99) r=0.33m +[headless_play] t= 12.90s step= 645 trunk_z= 124.6mm grav_b=(-0.07,+0.10,-0.99) r=0.34m +[headless_play] t= 13.00s step= 650 trunk_z= 117.8mm grav_b=(-0.10,-0.08,-0.99) r=0.35m +[headless_play] t= 13.10s step= 655 trunk_z= 119.7mm grav_b=(-0.09,+0.01,-1.00) r=0.36m +[headless_play] t= 13.20s step= 660 trunk_z= 123.6mm grav_b=(-0.07,+0.11,-0.99) r=0.37m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(-0.14,-0.07,-0.99) r=0.38m +[headless_play] t= 13.40s step= 670 trunk_z= 120.0mm grav_b=(-0.12,-0.02,-0.99) r=0.38m +[headless_play] t= 13.50s step= 675 trunk_z= 123.0mm grav_b=(-0.10,+0.10,-0.99) r=0.39m +[headless_play] t= 13.60s step= 680 trunk_z= 119.0mm grav_b=(-0.11,-0.07,-0.99) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 119.2mm grav_b=(-0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 124.0mm grav_b=(-0.06,+0.15,-0.99) r=0.42m +[headless_play] t= 13.90s step= 695 trunk_z= 117.8mm grav_b=(-0.13,-0.01,-0.99) r=0.43m +[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(-0.13,-0.05,-0.99) r=0.44m +[headless_play] t= 14.10s step= 705 trunk_z= 117.7mm grav_b=(-0.12,+0.10,-0.99) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 118.8mm grav_b=(-0.09,+0.00,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 118.2mm grav_b=(-0.06,-0.00,-1.00) r=0.45m +[headless_play] t= 14.40s step= 720 trunk_z= 119.4mm grav_b=(-0.05,+0.12,-0.99) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 115.5mm grav_b=(-0.09,-0.05,-0.99) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(-0.08,+0.13,-0.99) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 116.7mm grav_b=(-0.12,+0.04,-0.99) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 114.3mm grav_b=(-0.13,+0.00,-0.99) r=0.47m +[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(-0.18,+0.07,-0.98) r=0.47m +[headless_play] t= 15.00s step= 750 trunk_z= 116.8mm grav_b=(-0.14,-0.05,-0.99) r=0.46m +[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(-0.09,+0.06,-0.99) r=0.46m +[headless_play] t= 15.20s step= 760 trunk_z= 117.3mm grav_b=(-0.12,-0.01,-0.99) r=0.46m +[headless_play] t= 15.30s step= 765 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.47m +[headless_play] t= 15.40s step= 770 trunk_z= 118.2mm grav_b=(-0.06,+0.11,-0.99) r=0.47m +[headless_play] t= 15.50s step= 775 trunk_z= 115.4mm grav_b=(-0.12,-0.03,-0.99) r=0.48m +[headless_play] t= 15.60s step= 780 trunk_z= 116.9mm grav_b=(-0.10,+0.11,-0.99) r=0.49m +[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(-0.11,+0.03,-0.99) r=0.49m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(-0.08,+0.03,-1.00) r=0.50m +[headless_play] t= 15.90s step= 795 trunk_z= 118.5mm grav_b=(-0.08,+0.12,-0.99) r=0.50m +[headless_play] t= 16.00s step= 800 trunk_z= 114.9mm grav_b=(-0.14,-0.03,-0.99) r=0.51m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(-0.09,+0.10,-0.99) r=0.51m +[headless_play] t= 16.20s step= 810 trunk_z= 118.5mm grav_b=(-0.09,+0.10,-0.99) r=0.51m +[headless_play] t= 16.30s step= 815 trunk_z= 115.7mm grav_b=(-0.13,-0.04,-0.99) r=0.52m +[headless_play] t= 16.40s step= 820 trunk_z= 115.5mm grav_b=(-0.07,+0.12,-0.99) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 119.8mm grav_b=(-0.09,+0.11,-0.99) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 115.7mm grav_b=(-0.16,-0.05,-0.99) r=0.53m +[headless_play] t= 16.70s step= 835 trunk_z= 116.6mm grav_b=(-0.16,+0.06,-0.99) r=0.53m +[headless_play] t= 16.80s step= 840 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00) r=0.53m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.53m +[headless_play] t= 17.00s step= 850 trunk_z= 118.5mm grav_b=(-0.07,+0.10,-0.99) r=0.53m +[headless_play] t= 17.10s step= 855 trunk_z= 117.7mm grav_b=(-0.07,-0.04,-1.00) r=0.53m +[headless_play] t= 17.20s step= 860 trunk_z= 119.4mm grav_b=(-0.08,+0.03,-1.00) r=0.53m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 17.40s step= 870 trunk_z= 118.7mm grav_b=(-0.12,+0.01,-0.99) r=0.53m +[headless_play] t= 17.50s step= 875 trunk_z= 119.4mm grav_b=(-0.11,+0.05,-0.99) r=0.53m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(-0.09,+0.03,-1.00) r=0.53m +[headless_play] t= 17.70s step= 885 trunk_z= 119.6mm grav_b=(-0.09,+0.02,-1.00) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 119.3mm grav_b=(-0.11,+0.02,-0.99) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 119.5mm grav_b=(-0.10,+0.00,-0.99) r=0.54m +[headless_play] t= 18.00s step= 900 trunk_z= 119.4mm grav_b=(-0.09,+0.01,-1.00) r=0.54m +[headless_play] t= 18.10s step= 905 trunk_z= 119.4mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 18.20s step= 910 trunk_z= 119.4mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 18.30s step= 915 trunk_z= 119.4mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 119.5mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 119.5mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 119.5mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 18.70s step= 935 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 18.80s step= 940 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 18.90s step= 945 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 19.00s step= 950 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(-0.10,+0.01,-1.00) r=0.53m +[headless_play] t= 19.20s step= 960 trunk_z= 119.7mm grav_b=(-0.10,+0.01,-1.00) r=0.54m +[headless_play] t= 19.30s step= 965 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.53m +[headless_play] t= 19.40s step= 970 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.54m +[headless_play] t= 19.50s step= 975 trunk_z= 119.5mm grav_b=(-0.10,+0.01,-0.99) r=0.54m +[headless_play] t= 19.60s step= 980 trunk_z= 119.7mm grav_b=(-0.10,+0.01,-0.99) r=0.54m +[headless_play] t= 19.70s step= 985 trunk_z= 119.7mm grav_b=(-0.10,+0.01,-0.99) r=0.54m +[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(-0.10,+0.01,-0.99) r=0.54m +[headless_play] t= 19.90s step= 995 trunk_z= 119.4mm grav_b=(-0.12,+0.01,-0.99) r=0.52m +[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(-0.17,+0.02,-0.99) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 118.2mm grav_b=(-0.15,+0.03,-0.99) r=0.47m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..35672b2df50a5edf53ae894aa98b8161d14d13c1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.149,-17.596,+0.203) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.06,+0.00,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 115.8mm grav_b=(+0.12,+0.00,-0.99) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.12,+0.01,-0.99) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.11,+0.01,-0.99) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(+0.08,+0.01,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.80s step= 90 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 1.90s step= 95 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 2.00s step= 100 trunk_z= 116.6mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.60s step= 130 trunk_z= 116.7mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.10s step= 155 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.40s step= 170 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.50s step= 175 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.60s step= 180 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.00s step= 200 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.10s step= 205 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.30s step= 215 trunk_z= 116.9mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.40s step= 220 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(+0.08,+0.00,-1.00) r=0.43m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 4.70s step= 235 trunk_z= 117.0mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 4.80s step= 240 trunk_z= 117.2mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 4.90s step= 245 trunk_z= 117.1mm grav_b=(+0.07,+0.00,-1.00) r=0.43m +[headless_play] t= 5.00s step= 250 trunk_z= 117.2mm grav_b=(+0.07,+0.00,-1.00) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 117.8mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 111.4mm grav_b=(-0.05,+0.15,-0.99) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 83.9mm grav_b=(+0.14,+0.24,-0.96) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 99.8mm grav_b=(+0.25,+0.10,-0.96) r=0.61m +[headless_play] t= 5.50s step= 275 trunk_z= 115.7mm grav_b=(+0.16,+0.22,-0.96) r=0.64m +[headless_play] t= 5.60s step= 280 trunk_z= 125.3mm grav_b=(+0.20,+0.17,-0.96) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 105.1mm grav_b=(+0.17,-0.10,-0.98) r=0.66m +[headless_play] t= 5.80s step= 290 trunk_z= 104.8mm grav_b=(+0.02,-0.06,-1.00) r=0.67m +[headless_play] t= 5.90s step= 295 trunk_z= 116.6mm grav_b=(+0.03,-0.04,-1.00) r=0.67m +[headless_play] t= 6.00s step= 300 trunk_z= 119.0mm grav_b=(+0.06,+0.01,-1.00) r=0.67m +[headless_play] t= 6.10s step= 305 trunk_z= 119.5mm grav_b=(+0.10,-0.01,-0.99) r=0.67m +[headless_play] t= 6.20s step= 310 trunk_z= 121.4mm grav_b=(+0.10,+0.07,-0.99) r=0.68m +[headless_play] t= 6.30s step= 315 trunk_z= 122.7mm grav_b=(+0.11,+0.06,-0.99) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 117.7mm grav_b=(+0.09,-0.05,-0.99) r=0.70m +[headless_play] t= 6.50s step= 325 trunk_z= 116.7mm grav_b=(+0.05,+0.12,-0.99) r=0.71m +[headless_play] t= 6.60s step= 330 trunk_z= 125.3mm grav_b=(+0.07,+0.04,-1.00) r=0.73m +[headless_play] t= 6.70s step= 335 trunk_z= 120.6mm grav_b=(+0.08,-0.04,-1.00) r=0.74m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.04,+0.13,-0.99) r=0.76m +[headless_play] t= 6.90s step= 345 trunk_z= 123.9mm grav_b=(+0.07,+0.06,-1.00) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 119.9mm grav_b=(+0.10,-0.07,-0.99) r=0.79m +[headless_play] t= 7.10s step= 355 trunk_z= 118.3mm grav_b=(+0.07,+0.11,-0.99) r=0.81m +[headless_play] t= 7.20s step= 360 trunk_z= 121.7mm grav_b=(+0.07,+0.04,-1.00) r=0.82m +[headless_play] t= 7.30s step= 365 trunk_z= 120.5mm grav_b=(+0.11,-0.07,-0.99) r=0.84m +[headless_play] t= 7.40s step= 370 trunk_z= 117.0mm grav_b=(+0.09,+0.12,-0.99) r=0.85m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(+0.08,+0.06,-0.99) r=0.86m +[headless_play] t= 7.60s step= 380 trunk_z= 119.3mm grav_b=(+0.12,-0.06,-0.99) r=0.88m +[headless_play] t= 7.70s step= 385 trunk_z= 115.5mm grav_b=(+0.10,+0.12,-0.99) r=0.89m +[headless_play] t= 7.80s step= 390 trunk_z= 122.1mm grav_b=(+0.07,+0.01,-1.00) r=0.90m +[headless_play] t= 7.90s step= 395 trunk_z= 122.0mm grav_b=(+0.12,-0.08,-0.99) r=0.91m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.09,+0.10,-0.99) r=0.93m +[headless_play] t= 8.10s step= 405 trunk_z= 120.4mm grav_b=(+0.07,+0.02,-1.00) r=0.94m +[headless_play] t= 8.20s step= 410 trunk_z= 117.5mm grav_b=(+0.11,-0.02,-0.99) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(+0.10,+0.12,-0.99) r=0.97m +[headless_play] t= 8.40s step= 420 trunk_z= 117.3mm grav_b=(+0.07,-0.06,-1.00) r=0.98m +[headless_play] t= 8.50s step= 425 trunk_z= 117.6mm grav_b=(+0.12,+0.02,-0.99) r=0.99m +[headless_play] t= 8.60s step= 430 trunk_z= 120.1mm grav_b=(+0.11,+0.13,-0.98) r=1.01m +[headless_play] t= 8.70s step= 435 trunk_z= 106.2mm grav_b=(+0.16,+0.07,-0.98) r=1.04m +[headless_play] t= 8.80s step= 440 trunk_z= 102.8mm grav_b=(+0.24,+0.43,-0.87) r=1.07m +[headless_play] t= 8.90s step= 445 trunk_z= 64.4mm grav_b=(+0.14,+0.90,-0.41) r=1.13m +[headless_play] RESET at t= 8.92s step= 446 (env termination, not a recovery) +[headless_play] t= 9.00s step= 450 trunk_z= 115.2mm grav_b=(+0.00,-0.00,-1.00) r=0.57m +[headless_play] t= 9.10s step= 455 trunk_z= 116.5mm grav_b=(+0.06,-0.00,-1.00) r=0.57m +[headless_play] t= 9.20s step= 460 trunk_z= 117.0mm grav_b=(+0.09,+0.01,-1.00) r=0.57m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 9.50s step= 475 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 9.80s step= 490 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.58m +[headless_play] t= 10.00s step= 500 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.58m +[headless_play] t= 10.30s step= 515 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 10.40s step= 520 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 10.70s step= 535 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.58m +[headless_play] t= 10.80s step= 540 trunk_z= 119.3mm grav_b=(+0.07,+0.02,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 121.5mm grav_b=(+0.09,+0.04,-0.99) r=0.58m +[headless_play] t= 11.00s step= 550 trunk_z= 122.3mm grav_b=(+0.11,+0.04,-0.99) r=0.57m +[headless_play] t= 11.10s step= 555 trunk_z= 122.5mm grav_b=(+0.12,+0.00,-0.99) r=0.56m +[headless_play] t= 11.20s step= 560 trunk_z= 124.3mm grav_b=(+0.12,+0.04,-0.99) r=0.55m +[headless_play] t= 11.30s step= 565 trunk_z= 121.4mm grav_b=(+0.14,+0.02,-0.99) r=0.54m +[headless_play] t= 11.40s step= 570 trunk_z= 108.9mm grav_b=(+0.15,-0.17,-0.98) r=0.53m +[headless_play] t= 11.50s step= 575 trunk_z= 107.3mm grav_b=(-0.07,-0.06,-1.00) r=0.52m +[headless_play] t= 11.60s step= 580 trunk_z= 113.5mm grav_b=(-0.03,+0.00,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 116.8mm grav_b=(+0.07,-0.00,-1.00) r=0.51m +[headless_play] t= 11.80s step= 590 trunk_z= 116.3mm grav_b=(+0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(+0.03,-0.00,-1.00) r=0.51m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=0.51m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.08,-0.01,-1.00) r=0.50m +[headless_play] t= 12.40s step= 620 trunk_z= 116.3mm grav_b=(+0.10,-0.01,-0.99) r=0.50m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(+0.11,-0.01,-0.99) r=0.50m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(+0.09,-0.01,-1.00) r=0.50m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(+0.08,-0.01,-1.00) r=0.50m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.40s step= 670 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.50s step= 675 trunk_z= 116.6mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(+0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(+0.09,-0.01,-1.00) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 115.8mm grav_b=(+0.10,-0.00,-1.00) r=0.49m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(+0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 14.20s step= 710 trunk_z= 115.0mm grav_b=(+0.07,+0.01,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 114.6mm grav_b=(+0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 113.6mm grav_b=(+0.08,-0.07,-0.99) r=0.48m +[headless_play] t= 14.50s step= 725 trunk_z= 111.2mm grav_b=(+0.10,-0.01,-1.00) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 112.4mm grav_b=(+0.11,+0.04,-0.99) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 114.9mm grav_b=(+0.10,-0.01,-1.00) r=0.46m +[headless_play] t= 14.80s step= 740 trunk_z= 108.9mm grav_b=(+0.07,-0.10,-0.99) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 110.9mm grav_b=(+0.12,-0.02,-0.99) r=0.43m +[headless_play] t= 15.00s step= 750 trunk_z= 110.2mm grav_b=(+0.15,+0.06,-0.99) r=0.43m +[headless_play] t= 15.10s step= 755 trunk_z= 115.3mm grav_b=(+0.12,+0.05,-0.99) r=0.43m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(+0.09,-0.03,-1.00) r=0.42m +[headless_play] t= 15.30s step= 765 trunk_z= 120.1mm grav_b=(+0.07,-0.03,-1.00) r=0.41m +[headless_play] t= 15.40s step= 770 trunk_z= 120.5mm grav_b=(+0.08,+0.01,-1.00) r=0.41m +[headless_play] t= 15.50s step= 775 trunk_z= 119.8mm grav_b=(+0.14,-0.14,-0.98) r=0.40m +[headless_play] t= 15.60s step= 780 trunk_z= 127.8mm grav_b=(+0.09,-0.04,-0.99) r=0.39m +[headless_play] t= 15.70s step= 785 trunk_z= 115.4mm grav_b=(+0.08,+0.05,-1.00) r=0.38m +[headless_play] t= 15.80s step= 790 trunk_z= 121.5mm grav_b=(+0.07,-0.06,-1.00) r=0.36m +[headless_play] t= 15.90s step= 795 trunk_z= 121.8mm grav_b=(+0.04,-0.10,-0.99) r=0.34m +[headless_play] t= 16.00s step= 800 trunk_z= 118.2mm grav_b=(-0.02,+0.06,-1.00) r=0.33m +[headless_play] t= 16.10s step= 805 trunk_z= 120.8mm grav_b=(+0.10,-0.05,-0.99) r=0.32m +[headless_play] t= 16.20s step= 810 trunk_z= 124.5mm grav_b=(+0.10,-0.10,-0.99) r=0.31m +[headless_play] t= 16.30s step= 815 trunk_z= 120.2mm grav_b=(+0.14,+0.06,-0.99) r=0.32m +[headless_play] t= 16.40s step= 820 trunk_z= 112.5mm grav_b=(+0.02,-0.11,-0.99) r=0.28m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(+0.09,-0.01,-1.00) r=0.26m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(+0.06,+0.12,-0.99) r=0.25m +[headless_play] t= 16.70s step= 835 trunk_z= 120.6mm grav_b=(-0.01,-0.03,-1.00) r=0.23m +[headless_play] t= 16.80s step= 840 trunk_z= 123.5mm grav_b=(+0.04,-0.07,-1.00) r=0.21m +[headless_play] t= 16.90s step= 845 trunk_z= 120.7mm grav_b=(+0.05,+0.08,-1.00) r=0.20m +[headless_play] t= 17.00s step= 850 trunk_z= 124.8mm grav_b=(+0.05,+0.02,-1.00) r=0.20m +[headless_play] t= 17.10s step= 855 trunk_z= 122.1mm grav_b=(+0.08,-0.10,-0.99) r=0.18m +[headless_play] t= 17.20s step= 860 trunk_z= 119.3mm grav_b=(+0.06,+0.14,-0.99) r=0.16m +[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(+0.04,+0.07,-1.00) r=0.15m +[headless_play] t= 17.40s step= 870 trunk_z= 116.8mm grav_b=(+0.06,-0.12,-0.99) r=0.12m +[headless_play] t= 17.50s step= 875 trunk_z= 125.2mm grav_b=(+0.06,+0.02,-1.00) r=0.11m +[headless_play] t= 17.60s step= 880 trunk_z= 121.2mm grav_b=(+0.00,+0.10,-0.99) r=0.09m +[headless_play] t= 17.70s step= 885 trunk_z= 121.2mm grav_b=(-0.01,-0.03,-1.00) r=0.07m +[headless_play] t= 17.80s step= 890 trunk_z= 124.3mm grav_b=(+0.08,-0.05,-1.00) r=0.05m +[headless_play] t= 17.90s step= 895 trunk_z= 121.5mm grav_b=(+0.10,+0.10,-0.99) r=0.03m +[headless_play] t= 18.00s step= 900 trunk_z= 124.6mm grav_b=(+0.08,-0.03,-1.00) r=0.02m +[headless_play] t= 18.10s step= 905 trunk_z= 125.0mm grav_b=(+0.05,-0.10,-0.99) r=0.02m +[headless_play] t= 18.20s step= 910 trunk_z= 118.6mm grav_b=(+0.01,+0.08,-1.00) r=0.03m +[headless_play] t= 18.30s step= 915 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=0.05m +[headless_play] t= 18.40s step= 920 trunk_z= 120.6mm grav_b=(+0.05,-0.12,-0.99) r=0.07m +[headless_play] t= 18.50s step= 925 trunk_z= 119.4mm grav_b=(+0.06,+0.07,-1.00) r=0.08m +[headless_play] t= 18.60s step= 930 trunk_z= 120.8mm grav_b=(+0.05,-0.01,-1.00) r=0.10m +[headless_play] t= 18.70s step= 935 trunk_z= 117.0mm grav_b=(+0.01,-0.07,-1.00) r=0.12m +[headless_play] t= 18.80s step= 940 trunk_z= 118.1mm grav_b=(+0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 18.90s step= 945 trunk_z= 121.7mm grav_b=(+0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 19.00s step= 950 trunk_z= 120.7mm grav_b=(+0.03,+0.04,-1.00) r=0.15m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.02,-0.08,-1.00) r=0.16m +[headless_play] t= 19.20s step= 960 trunk_z= 118.5mm grav_b=(+0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 19.30s step= 965 trunk_z= 118.2mm grav_b=(+0.02,-0.03,-1.00) r=0.17m +[headless_play] t= 19.40s step= 970 trunk_z= 121.5mm grav_b=(+0.05,-0.09,-1.00) r=0.17m +[headless_play] t= 19.50s step= 975 trunk_z= 119.1mm grav_b=(-0.01,+0.11,-0.99) r=0.17m +[headless_play] t= 19.60s step= 980 trunk_z= 123.5mm grav_b=(+0.03,+0.04,-1.00) r=0.19m +[headless_play] t= 19.70s step= 985 trunk_z= 120.0mm grav_b=(+0.04,-0.09,-0.99) r=0.20m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(+0.05,+0.11,-0.99) r=0.21m +[headless_play] t= 19.90s step= 995 trunk_z= 124.6mm grav_b=(+0.11,+0.08,-0.99) r=0.22m +[headless_play] t= 20.00s step=1000 trunk_z= 113.0mm grav_b=(+0.12,-0.05,-0.99) r=0.24m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.04,+0.02,-1.00) r=0.25m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..4ecb029ffeaa0788b90a8251fecd2ea5c5641798 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/mxa-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(-0.00,+0.00,-1.00) root_w=(-10.407,-17.629,+0.203) +[headless_play] t= 0.00s step= 0 trunk_z= 125.2mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(-0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 117.1mm grav_b=(-0.16,+0.05,-0.99) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 95.6mm grav_b=(-0.19,+0.18,-0.97) r=0.50m +[headless_play] t= 3.70s step= 185 trunk_z= 94.8mm grav_b=(-0.02,+0.13,-0.99) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 100.8mm grav_b=(+0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 112.7mm grav_b=(-0.03,+0.03,-1.00) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 114.6mm grav_b=(+0.00,+0.04,-1.00) r=0.51m +[headless_play] t= 4.10s step= 205 trunk_z= 115.6mm grav_b=(-0.00,+0.04,-1.00) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 115.6mm grav_b=(-0.02,+0.03,-1.00) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 115.7mm grav_b=(-0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 115.9mm grav_b=(-0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 116.0mm grav_b=(-0.02,+0.03,-1.00) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 116.3mm grav_b=(-0.03,+0.03,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 116.4mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 116.8mm grav_b=(-0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 118.1mm grav_b=(-0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 118.1mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 118.2mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00) r=0.52m +[headless_play] t= 6.00s step= 300 trunk_z= 118.7mm grav_b=(-0.04,+0.01,-1.00) r=0.52m +[headless_play] t= 6.10s step= 305 trunk_z= 118.7mm grav_b=(-0.04,+0.00,-1.00) r=0.52m +[headless_play] t= 6.20s step= 310 trunk_z= 118.8mm grav_b=(-0.04,+0.01,-1.00) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 118.8mm grav_b=(-0.04,+0.01,-1.00) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 118.8mm grav_b=(-0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 121.4mm grav_b=(+0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 114.1mm grav_b=(+0.01,-0.14,-0.99) r=0.49m +[headless_play] t= 6.70s step= 335 trunk_z= 123.2mm grav_b=(-0.08,+0.09,-0.99) r=0.48m +[headless_play] t= 6.80s step= 340 trunk_z= 122.2mm grav_b=(-0.16,+0.28,-0.95) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 130.8mm grav_b=(-0.05,+0.21,-0.98) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 126.3mm grav_b=(-0.03,+0.08,-1.00) r=0.48m +[headless_play] t= 7.10s step= 355 trunk_z= 121.3mm grav_b=(-0.07,+0.05,-1.00) r=0.49m +[headless_play] t= 7.20s step= 360 trunk_z= 118.3mm grav_b=(-0.01,+0.17,-0.98) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 125.7mm grav_b=(-0.01,+0.05,-1.00) r=0.51m +[headless_play] t= 7.40s step= 370 trunk_z= 119.7mm grav_b=(-0.07,-0.03,-1.00) r=0.52m +[headless_play] t= 7.50s step= 375 trunk_z= 120.2mm grav_b=(-0.02,+0.07,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 116.0mm grav_b=(-0.04,-0.08,-1.00) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 119.2mm grav_b=(-0.06,+0.09,-0.99) r=0.55m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(-0.10,-0.02,-0.99) r=0.55m +[headless_play] t= 7.90s step= 395 trunk_z= 118.5mm grav_b=(-0.08,+0.03,-1.00) r=0.56m +[headless_play] t= 8.00s step= 400 trunk_z= 118.4mm grav_b=(-0.04,+0.03,-1.00) r=0.57m +[headless_play] t= 8.10s step= 405 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 8.20s step= 410 trunk_z= 113.9mm grav_b=(+0.02,+0.07,-1.00) r=0.58m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00) r=0.58m +[headless_play] t= 8.40s step= 420 trunk_z= 114.9mm grav_b=(+0.01,-0.01,-1.00) r=0.59m +[headless_play] t= 8.50s step= 425 trunk_z= 109.2mm grav_b=(+0.07,+0.09,-0.99) r=0.59m +[headless_play] t= 8.60s step= 430 trunk_z= 114.8mm grav_b=(+0.03,+0.05,-1.00) r=0.59m +[headless_play] t= 8.70s step= 435 trunk_z= 112.1mm grav_b=(+0.01,-0.06,-1.00) r=0.60m +[headless_play] t= 8.80s step= 440 trunk_z= 113.7mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 8.90s step= 445 trunk_z= 111.4mm grav_b=(+0.06,+0.04,-1.00) r=0.59m +[headless_play] t= 9.00s step= 450 trunk_z= 119.2mm grav_b=(-0.00,+0.10,-1.00) r=0.58m +[headless_play] t= 9.10s step= 455 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 114.5mm grav_b=(+0.02,-0.02,-1.00) r=0.58m +[headless_play] t= 9.30s step= 465 trunk_z= 111.8mm grav_b=(+0.08,+0.03,-1.00) r=0.58m +[headless_play] t= 9.40s step= 470 trunk_z= 116.5mm grav_b=(+0.02,+0.09,-1.00) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 115.0mm grav_b=(+0.03,-0.00,-1.00) r=0.56m +[headless_play] t= 9.60s step= 480 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 9.70s step= 485 trunk_z= 111.9mm grav_b=(+0.05,+0.06,-1.00) r=0.55m +[headless_play] t= 9.80s step= 490 trunk_z= 114.1mm grav_b=(+0.05,+0.07,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 112.7mm grav_b=(+0.01,-0.05,-1.00) r=0.54m +[headless_play] t= 10.00s step= 500 trunk_z= 113.6mm grav_b=(+0.04,-0.03,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 109.7mm grav_b=(+0.05,+0.11,-0.99) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(-0.01,+0.06,-1.00) r=0.52m +[headless_play] t= 10.30s step= 515 trunk_z= 114.4mm grav_b=(-0.02,-0.06,-1.00) r=0.51m +[headless_play] t= 10.40s step= 520 trunk_z= 113.1mm grav_b=(+0.07,+0.05,-1.00) r=0.51m +[headless_play] t= 10.50s step= 525 trunk_z= 114.1mm grav_b=(-0.02,+0.09,-1.00) r=0.52m +[headless_play] t= 10.60s step= 530 trunk_z= 114.0mm grav_b=(-0.04,-0.06,-1.00) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 111.6mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 104.0mm grav_b=(+0.08,+0.12,-0.99) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 11.00s step= 550 trunk_z= 112.4mm grav_b=(+0.04,-0.06,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 111.9mm grav_b=(+0.03,+0.05,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(+0.01,+0.10,-0.99) r=0.53m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 11.40s step= 570 trunk_z= 112.4mm grav_b=(+0.04,-0.06,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 112.9mm grav_b=(+0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 115.0mm grav_b=(+0.01,+0.10,-0.99) r=0.49m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(+0.02,+0.02,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 113.4mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 11.90s step= 595 trunk_z= 112.8mm grav_b=(+0.07,+0.01,-1.00) r=0.44m +[headless_play] t= 12.00s step= 600 trunk_z= 114.6mm grav_b=(+0.02,+0.09,-1.00) r=0.42m +[headless_play] t= 12.10s step= 605 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 113.7mm grav_b=(+0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 12.30s step= 615 trunk_z= 111.6mm grav_b=(+0.06,+0.06,-1.00) r=0.37m +[headless_play] t= 12.40s step= 620 trunk_z= 114.3mm grav_b=(+0.05,+0.08,-1.00) r=0.36m +[headless_play] t= 12.50s step= 625 trunk_z= 114.7mm grav_b=(-0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 12.60s step= 630 trunk_z= 116.2mm grav_b=(-0.00,-0.00,-1.00) r=0.34m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(+0.03,+0.13,-0.99) r=0.33m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(-0.05,-0.05,-1.00) r=0.32m +[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(-0.03,-0.03,-1.00) r=0.30m +[headless_play] t= 13.00s step= 650 trunk_z= 116.4mm grav_b=(-0.01,+0.15,-0.99) r=0.29m +[headless_play] t= 13.10s step= 655 trunk_z= 118.4mm grav_b=(-0.01,+0.00,-1.00) r=0.28m +[headless_play] t= 13.20s step= 660 trunk_z= 118.9mm grav_b=(-0.03,-0.06,-1.00) r=0.26m +[headless_play] t= 13.30s step= 665 trunk_z= 114.9mm grav_b=(-0.01,+0.14,-0.99) r=0.24m +[headless_play] t= 13.40s step= 670 trunk_z= 119.6mm grav_b=(-0.00,+0.01,-1.00) r=0.23m +[headless_play] t= 13.50s step= 675 trunk_z= 120.7mm grav_b=(-0.03,-0.10,-0.99) r=0.21m +[headless_play] t= 13.60s step= 680 trunk_z= 114.7mm grav_b=(-0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(-0.01,+0.01,-1.00) r=0.18m +[headless_play] t= 13.80s step= 690 trunk_z= 118.7mm grav_b=(-0.03,-0.05,-1.00) r=0.17m +[headless_play] t= 13.90s step= 695 trunk_z= 114.7mm grav_b=(+0.01,+0.11,-0.99) r=0.15m +[headless_play] t= 14.00s step= 700 trunk_z= 115.2mm grav_b=(-0.02,-0.06,-1.00) r=0.14m +[headless_play] t= 14.10s step= 705 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.13m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(-0.00,+0.09,-1.00) r=0.12m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(-0.03,-0.07,-1.00) r=0.11m +[headless_play] t= 14.40s step= 720 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.09m +[headless_play] t= 14.50s step= 725 trunk_z= 117.3mm grav_b=(-0.00,+0.11,-0.99) r=0.08m +[headless_play] t= 14.60s step= 730 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.07m +[headless_play] t= 14.70s step= 735 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.05m +[headless_play] t= 14.80s step= 740 trunk_z= 117.2mm grav_b=(+0.02,+0.11,-0.99) r=0.04m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(-0.01,-0.04,-1.00) r=0.03m +[headless_play] t= 15.00s step= 750 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.02m +[headless_play] t= 15.10s step= 755 trunk_z= 115.0mm grav_b=(+0.01,+0.09,-1.00) r=0.00m +[headless_play] t= 15.20s step= 760 trunk_z= 114.9mm grav_b=(-0.01,-0.06,-1.00) r=0.01m +[headless_play] t= 15.30s step= 765 trunk_z= 116.9mm grav_b=(-0.01,-0.04,-1.00) r=0.02m +[headless_play] t= 15.40s step= 770 trunk_z= 117.4mm grav_b=(+0.03,+0.13,-0.99) r=0.05m +[headless_play] t= 15.50s step= 775 trunk_z= 120.1mm grav_b=(-0.00,+0.04,-1.00) r=0.07m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.04,-0.00,-1.00) r=0.09m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(+0.01,+0.10,-1.00) r=0.11m +[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.12m +[headless_play] t= 15.90s step= 795 trunk_z= 115.9mm grav_b=(-0.00,+0.01,-1.00) r=0.14m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(+0.02,+0.07,-1.00) r=0.15m +[headless_play] t= 16.10s step= 805 trunk_z= 113.6mm grav_b=(-0.03,-0.05,-1.00) r=0.15m +[headless_play] t= 16.20s step= 810 trunk_z= 112.7mm grav_b=(+0.01,+0.03,-1.00) r=0.16m +[headless_play] t= 16.30s step= 815 trunk_z= 114.3mm grav_b=(+0.05,+0.09,-0.99) r=0.16m +[headless_play] t= 16.40s step= 820 trunk_z= 112.7mm grav_b=(-0.03,-0.08,-1.00) r=0.17m +[headless_play] t= 16.50s step= 825 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) r=0.18m +[headless_play] t= 16.60s step= 830 trunk_z= 113.6mm grav_b=(+0.05,+0.11,-0.99) r=0.19m +[headless_play] t= 16.70s step= 835 trunk_z= 115.2mm grav_b=(-0.00,-0.05,-1.00) r=0.20m +[headless_play] t= 16.80s step= 840 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 16.90s step= 845 trunk_z= 113.4mm grav_b=(+0.04,+0.11,-0.99) r=0.22m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(-0.01,-0.04,-1.00) r=0.23m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.02,-0.04,-1.00) r=0.24m +[headless_play] t= 17.20s step= 860 trunk_z= 112.2mm grav_b=(+0.04,+0.14,-0.99) r=0.25m +[headless_play] t= 17.30s step= 865 trunk_z= 117.3mm grav_b=(+0.01,+0.02,-1.00) r=0.26m +[headless_play] t= 17.40s step= 870 trunk_z= 116.9mm grav_b=(-0.02,-0.07,-1.00) r=0.27m +[headless_play] t= 17.50s step= 875 trunk_z= 112.3mm grav_b=(+0.02,+0.10,-1.00) r=0.29m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(+0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(-0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 113.5mm grav_b=(+0.02,+0.04,-1.00) r=0.32m +[headless_play] t= 17.90s step= 895 trunk_z= 115.5mm grav_b=(+0.03,+0.03,-1.00) r=0.34m +[headless_play] t= 18.00s step= 900 trunk_z= 113.8mm grav_b=(-0.02,-0.10,-0.99) r=0.35m +[headless_play] t= 18.10s step= 905 trunk_z= 112.6mm grav_b=(+0.04,+0.02,-1.00) r=0.37m +[headless_play] t= 18.20s step= 910 trunk_z= 114.2mm grav_b=(+0.05,+0.04,-1.00) r=0.38m +[headless_play] t= 18.30s step= 915 trunk_z= 113.3mm grav_b=(+0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 18.40s step= 920 trunk_z= 114.1mm grav_b=(+0.05,-0.02,-1.00) r=0.38m +[headless_play] t= 18.50s step= 925 trunk_z= 115.3mm grav_b=(+0.04,+0.01,-1.00) r=0.38m +[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=0.38m +[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 18.80s step= 940 trunk_z= 116.3mm grav_b=(+0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.00s step= 950 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.10s step= 955 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.30s step= 965 trunk_z= 116.6mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.50s step= 975 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.60s step= 980 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.70s step= 985 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.80s step= 990 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 19.90s step= 995 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.37m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.4mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 20.10s step=1005 trunk_z= 116.2mm grav_b=(-0.03,+0.02,-1.00) r=0.57m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..a9c9c5837964da608455fbf761e40e2f7bcc210a --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.768,-18.397,+0.202) +[headless_play] t= 0.00s step= 0 trunk_z= 124.8mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.00,-0.00,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.05,-0.03,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 114.5mm grav_b=(+0.04,+0.04,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 113.8mm grav_b=(+0.00,-0.08,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(+0.02,-0.09,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 113.8mm grav_b=(+0.03,+0.04,-1.00) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(+0.03,-0.05,-1.00) r=0.57m +[headless_play] t= 1.00s step= 50 trunk_z= 118.3mm grav_b=(+0.04,-0.11,-0.99) r=0.59m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(+0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 1.20s step= 60 trunk_z= 117.9mm grav_b=(+0.00,+0.03,-1.00) r=0.63m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(+0.01,-0.07,-1.00) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(+0.06,-0.10,-0.99) r=0.68m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.04,+0.04,-1.00) r=0.70m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.72m +[headless_play] t= 1.70s step= 85 trunk_z= 113.6mm grav_b=(+0.03,-0.14,-0.99) r=0.74m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(+0.07,-0.06,-1.00) r=0.76m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(+0.05,+0.06,-1.00) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.05,-0.03,-1.00) r=0.79m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(+0.05,-0.12,-0.99) r=0.81m +[headless_play] t= 2.20s step= 110 trunk_z= 114.4mm grav_b=(+0.04,+0.01,-1.00) r=0.82m +[headless_play] t= 2.30s step= 115 trunk_z= 117.8mm grav_b=(+0.00,+0.02,-1.00) r=0.84m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.01,-0.07,-1.00) r=0.85m +[headless_play] t= 2.50s step= 125 trunk_z= 118.3mm grav_b=(+0.03,-0.12,-0.99) r=0.87m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(+0.08,+0.02,-1.00) r=0.88m +[headless_play] t= 2.70s step= 135 trunk_z= 118.0mm grav_b=(+0.08,+0.04,-1.00) r=0.89m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(-0.00,-0.11,-0.99) r=0.91m +[headless_play] t= 2.90s step= 145 trunk_z= 121.4mm grav_b=(+0.03,-0.13,-0.99) r=0.93m +[headless_play] t= 3.00s step= 150 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.94m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(+0.02,+0.03,-1.00) r=0.95m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.03,-0.07,-1.00) r=0.96m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(+0.06,-0.13,-0.99) r=0.98m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.04,-0.02,-1.00) r=0.98m +[headless_play] t= 3.50s step= 175 trunk_z= 119.8mm grav_b=(+0.00,+0.05,-1.00) r=0.99m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.04,-0.06,-1.00) r=0.99m +[headless_play] t= 3.70s step= 185 trunk_z= 115.2mm grav_b=(+0.17,-0.05,-0.98) r=1.00m +[headless_play] t= 3.80s step= 190 trunk_z= 111.9mm grav_b=(+0.15,+0.12,-0.98) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 129.3mm grav_b=(+0.23,-0.03,-0.97) r=1.01m +[headless_play] t= 4.00s step= 200 trunk_z= 94.0mm grav_b=(+0.24,-0.25,-0.94) r=1.03m +[headless_play] t= 4.10s step= 205 trunk_z= 122.0mm grav_b=(+0.30,-0.25,-0.92) r=1.05m +[headless_play] t= 4.20s step= 210 trunk_z= 132.5mm grav_b=(+0.20,-0.14,-0.97) r=1.06m +[headless_play] t= 4.30s step= 215 trunk_z= 88.1mm grav_b=(-0.06,-0.09,-0.99) r=1.09m +[headless_play] t= 4.40s step= 220 trunk_z= 89.1mm grav_b=(+0.18,-0.17,-0.97) r=1.12m +[headless_play] t= 4.50s step= 225 trunk_z= 89.3mm grav_b=(+0.32,+0.23,-0.92) r=1.18m +[headless_play] t= 4.60s step= 230 trunk_z= 82.1mm grav_b=(+0.45,+0.13,-0.89) r=1.25m +[headless_play] t= 4.70s step= 235 trunk_z= 76.3mm grav_b=(+0.85,-0.15,-0.50) r=1.33m +[headless_play] RESET at t= 4.76s step= 238 (env termination, not a recovery) +[headless_play] t= 4.80s step= 240 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 115.9mm grav_b=(+0.03,-0.02,-1.00) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(+0.05,-0.02,-1.00) r=0.56m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(+0.02,-0.03,-1.00) r=0.56m +[headless_play] t= 5.20s step= 260 trunk_z= 116.6mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 5.30s step= 265 trunk_z= 116.7mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 116.7mm grav_b=(+0.00,-0.03,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(+0.00,-0.03,-1.00) r=0.56m +[headless_play] t= 5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 5.70s step= 285 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 5.80s step= 290 trunk_z= 116.8mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 6.10s step= 305 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.30s step= 315 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.50s step= 325 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.80s step= 340 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 7.00s step= 350 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 7.10s step= 355 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 7.30s step= 365 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00) r=0.57m +[headless_play] t= 7.40s step= 370 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 7.70s step= 385 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 7.80s step= 390 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 7.90s step= 395 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.10s step= 405 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.40s step= 420 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.57m +[headless_play] t= 8.50s step= 425 trunk_z= 118.5mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 120.6mm grav_b=(+0.06,+0.08,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 118.5mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 115.3mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 8.90s step= 445 trunk_z= 115.9mm grav_b=(-0.03,+0.06,-1.00) r=0.45m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(-0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(-0.05,+0.02,-1.00) r=0.44m +[headless_play] t= 9.20s step= 460 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.45m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 9.40s step= 470 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 9.50s step= 475 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 9.60s step= 480 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 9.70s step= 485 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 9.80s step= 490 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.45m +[headless_play] t= 9.90s step= 495 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 10.00s step= 500 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=0.45m +[headless_play] t= 10.10s step= 505 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 10.20s step= 510 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 10.30s step= 515 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.45m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.44m +[headless_play] t= 10.70s step= 535 trunk_z= 117.7mm grav_b=(-0.04,+0.00,-1.00) r=0.44m +[headless_play] t= 10.80s step= 540 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 10.90s step= 545 trunk_z= 119.2mm grav_b=(-0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 11.00s step= 550 trunk_z= 120.0mm grav_b=(-0.00,+0.02,-1.00) r=0.44m +[headless_play] t= 11.10s step= 555 trunk_z= 120.2mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 119.5mm grav_b=(-0.05,+0.04,-1.00) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 119.3mm grav_b=(-0.05,+0.01,-1.00) r=0.43m +[headless_play] t= 11.40s step= 570 trunk_z= 119.8mm grav_b=(-0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 11.50s step= 575 trunk_z= 119.7mm grav_b=(-0.02,+0.10,-1.00) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 119.7mm grav_b=(-0.05,-0.07,-1.00) r=0.43m +[headless_play] t= 11.70s step= 585 trunk_z= 119.0mm grav_b=(-0.06,-0.02,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 120.1mm grav_b=(-0.03,+0.08,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 120.5mm grav_b=(-0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 124.4mm grav_b=(+0.01,-0.08,-1.00) r=0.43m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(-0.03,+0.11,-0.99) r=0.43m +[headless_play] t= 12.20s step= 610 trunk_z= 123.6mm grav_b=(-0.00,+0.01,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 122.0mm grav_b=(-0.01,-0.15,-0.99) r=0.43m +[headless_play] t= 12.40s step= 620 trunk_z= 123.8mm grav_b=(-0.06,-0.05,-1.00) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 121.3mm grav_b=(-0.06,+0.06,-1.00) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 119.7mm grav_b=(-0.05,-0.09,-0.99) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 124.9mm grav_b=(+0.00,-0.09,-1.00) r=0.44m +[headless_play] t= 12.80s step= 640 trunk_z= 118.5mm grav_b=(-0.04,+0.10,-0.99) r=0.44m +[headless_play] t= 12.90s step= 645 trunk_z= 122.2mm grav_b=(-0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 13.00s step= 650 trunk_z= 123.0mm grav_b=(-0.00,-0.11,-0.99) r=0.45m +[headless_play] t= 13.10s step= 655 trunk_z= 118.8mm grav_b=(-0.05,+0.05,-1.00) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 123.5mm grav_b=(-0.03,+0.06,-1.00) r=0.47m +[headless_play] t= 13.30s step= 665 trunk_z= 119.3mm grav_b=(-0.02,-0.12,-0.99) r=0.48m +[headless_play] t= 13.40s step= 670 trunk_z= 122.3mm grav_b=(-0.04,-0.04,-1.00) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(-0.03,+0.09,-1.00) r=0.49m +[headless_play] t= 13.60s step= 680 trunk_z= 120.4mm grav_b=(-0.00,-0.08,-1.00) r=0.50m +[headless_play] t= 13.70s step= 685 trunk_z= 124.9mm grav_b=(+0.03,-0.10,-0.99) r=0.51m +[headless_play] t= 13.80s step= 690 trunk_z= 125.3mm grav_b=(-0.06,+0.06,-1.00) r=0.52m +[headless_play] t= 13.90s step= 695 trunk_z= 126.2mm grav_b=(-0.01,+0.10,-0.99) r=0.53m +[headless_play] t= 14.00s step= 700 trunk_z= 117.6mm grav_b=(-0.04,-0.08,-1.00) r=0.55m +[headless_play] t= 14.10s step= 705 trunk_z= 123.9mm grav_b=(-0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(+0.02,+0.17,-0.98) r=0.55m +[headless_play] t= 14.30s step= 715 trunk_z= 128.5mm grav_b=(+0.07,+0.17,-0.98) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 127.6mm grav_b=(+0.13,+0.07,-0.99) r=0.51m +[headless_play] t= 14.50s step= 725 trunk_z= 107.6mm grav_b=(+0.01,+0.15,-0.99) r=0.51m +[headless_play] t= 14.60s step= 730 trunk_z= 105.6mm grav_b=(-0.12,+0.13,-0.98) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 104.0mm grav_b=(-0.21,-0.07,-0.98) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 107.2mm grav_b=(-0.05,+0.09,-0.99) r=0.51m +[headless_play] t= 14.90s step= 745 trunk_z= 113.3mm grav_b=(+0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 15.00s step= 750 trunk_z= 120.4mm grav_b=(+0.02,-0.10,-0.99) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 117.7mm grav_b=(-0.06,-0.02,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 121.8mm grav_b=(-0.05,+0.04,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 115.5mm grav_b=(-0.02,-0.14,-0.99) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 120.3mm grav_b=(+0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 119.4mm grav_b=(-0.01,+0.10,-1.00) r=0.53m +[headless_play] t= 15.60s step= 780 trunk_z= 118.8mm grav_b=(-0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 121.1mm grav_b=(+0.04,-0.09,-0.99) r=0.55m +[headless_play] t= 15.80s step= 790 trunk_z= 118.4mm grav_b=(-0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 15.90s step= 795 trunk_z= 123.8mm grav_b=(-0.03,+0.10,-0.99) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 114.4mm grav_b=(+0.01,-0.11,-0.99) r=0.56m +[headless_play] t= 16.10s step= 805 trunk_z= 122.3mm grav_b=(+0.00,-0.05,-1.00) r=0.57m +[headless_play] t= 16.20s step= 810 trunk_z= 119.2mm grav_b=(-0.05,+0.13,-0.99) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 121.0mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 16.40s step= 820 trunk_z= 122.6mm grav_b=(-0.01,-0.14,-0.99) r=0.57m +[headless_play] t= 16.50s step= 825 trunk_z= 121.8mm grav_b=(+0.00,-0.02,-1.00) r=0.57m +[headless_play] t= 16.60s step= 830 trunk_z= 122.2mm grav_b=(-0.00,+0.12,-0.99) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 117.5mm grav_b=(-0.03,-0.08,-1.00) r=0.56m +[headless_play] t= 16.80s step= 840 trunk_z= 125.0mm grav_b=(+0.02,-0.11,-0.99) r=0.57m +[headless_play] t= 16.90s step= 845 trunk_z= 118.3mm grav_b=(-0.02,+0.05,-1.00) r=0.56m +[headless_play] t= 17.00s step= 850 trunk_z= 123.0mm grav_b=(-0.05,+0.07,-1.00) r=0.56m +[headless_play] t= 17.10s step= 855 trunk_z= 117.3mm grav_b=(-0.01,-0.17,-0.99) r=0.56m +[headless_play] t= 17.20s step= 860 trunk_z= 120.6mm grav_b=(+0.07,-0.09,-0.99) r=0.57m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(-0.04,+0.09,-0.99) r=0.58m +[headless_play] t= 17.40s step= 870 trunk_z= 124.0mm grav_b=(-0.04,+0.07,-1.00) r=0.58m +[headless_play] t= 17.50s step= 875 trunk_z= 114.6mm grav_b=(-0.00,-0.09,-1.00) r=0.59m +[headless_play] t= 17.60s step= 880 trunk_z= 113.3mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 17.70s step= 885 trunk_z= 113.5mm grav_b=(+0.07,+0.04,-1.00) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(+0.02,-0.11,-0.99) r=0.60m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(+0.03,-0.09,-1.00) r=0.61m +[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(+0.01,+0.04,-1.00) r=0.61m +[headless_play] t= 18.10s step= 905 trunk_z= 121.8mm grav_b=(-0.10,-0.00,-1.00) r=0.59m +[headless_play] t= 18.20s step= 910 trunk_z= 111.7mm grav_b=(-0.03,-0.13,-0.99) r=0.57m +[headless_play] t= 18.30s step= 915 trunk_z= 113.2mm grav_b=(+0.08,-0.03,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 112.2mm grav_b=(+0.09,+0.06,-0.99) r=0.53m +[headless_play] t= 18.50s step= 925 trunk_z= 113.1mm grav_b=(+0.02,-0.07,-1.00) r=0.53m +[headless_play] t= 18.60s step= 930 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 18.70s step= 935 trunk_z= 113.3mm grav_b=(+0.04,+0.05,-1.00) r=0.51m +[headless_play] t= 18.80s step= 940 trunk_z= 112.0mm grav_b=(+0.02,-0.09,-1.00) r=0.52m +[headless_play] t= 18.90s step= 945 trunk_z= 114.5mm grav_b=(+0.04,-0.03,-1.00) r=0.53m +[headless_play] t= 19.00s step= 950 trunk_z= 114.7mm grav_b=(+0.02,+0.06,-1.00) r=0.53m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(+0.05,-0.02,-1.00) r=0.53m +[headless_play] t= 19.20s step= 960 trunk_z= 115.4mm grav_b=(+0.04,-0.11,-0.99) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 113.0mm grav_b=(+0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 19.50s step= 975 trunk_z= 114.1mm grav_b=(+0.02,-0.10,-1.00) r=0.58m +[headless_play] t= 19.60s step= 980 trunk_z= 112.2mm grav_b=(+0.07,-0.01,-1.00) r=0.59m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(+0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 19.80s step= 990 trunk_z= 115.4mm grav_b=(+0.02,-0.06,-1.00) r=0.62m +[headless_play] t= 19.90s step= 995 trunk_z= 118.5mm grav_b=(+0.01,-0.12,-0.99) r=0.63m +[headless_play] t= 20.00s step=1000 trunk_z= 112.5mm grav_b=(+0.09,+0.00,-1.00) r=0.64m +[headless_play] t= 20.10s step=1005 trunk_z= 117.9mm grav_b=(+0.07,+0.04,-1.00) r=0.65m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..23f509fd30ddbf762941842f6562b2f172070fc2 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t10.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-17.829,-17.901,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.5mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 118.7mm grav_b=(-0.04,+0.01,-1.00) r=0.19m +[headless_play] t= 0.30s step= 15 trunk_z= 118.8mm grav_b=(-0.03,+0.04,-1.00) r=0.19m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(-0.02,+0.02,-1.00) r=0.19m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(-0.06,-0.08,-0.99) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 119.1mm grav_b=(-0.16,+0.09,-0.98) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 121.7mm grav_b=(-0.12,-0.01,-0.99) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(-0.08,-0.08,-0.99) r=0.15m +[headless_play] t= 0.90s step= 45 trunk_z= 119.3mm grav_b=(-0.10,+0.10,-0.99) r=0.14m +[headless_play] t= 1.00s step= 50 trunk_z= 124.4mm grav_b=(-0.07,+0.05,-1.00) r=0.12m +[headless_play] t= 1.10s step= 55 trunk_z= 120.6mm grav_b=(-0.07,-0.06,-1.00) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 118.9mm grav_b=(-0.10,+0.12,-0.99) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 121.8mm grav_b=(-0.08,-0.00,-1.00) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 121.4mm grav_b=(-0.09,-0.08,-0.99) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 117.2mm grav_b=(-0.11,+0.11,-0.99) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 121.6mm grav_b=(-0.10,-0.00,-0.99) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 124.0mm grav_b=(-0.09,-0.11,-0.99) r=0.03m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(-0.09,+0.07,-0.99) r=0.02m +[headless_play] t= 1.90s step= 95 trunk_z= 121.8mm grav_b=(-0.10,+0.00,-0.99) r=0.01m +[headless_play] t= 2.00s step= 100 trunk_z= 122.1mm grav_b=(-0.08,-0.09,-0.99) r=0.02m +[headless_play] t= 2.10s step= 105 trunk_z= 118.4mm grav_b=(-0.07,+0.10,-0.99) r=0.03m +[headless_play] t= 2.20s step= 110 trunk_z= 121.0mm grav_b=(-0.09,-0.00,-1.00) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 122.7mm grav_b=(-0.10,-0.09,-0.99) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 117.0mm grav_b=(-0.14,+0.09,-0.99) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 120.5mm grav_b=(-0.12,+0.02,-0.99) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 121.9mm grav_b=(-0.11,-0.17,-0.98) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 127.5mm grav_b=(-0.08,-0.12,-0.99) r=0.11m +[headless_play] t= 2.80s step= 140 trunk_z= 118.1mm grav_b=(-0.13,+0.07,-0.99) r=0.11m +[headless_play] t= 2.90s step= 145 trunk_z= 122.7mm grav_b=(-0.12,+0.04,-0.99) r=0.12m +[headless_play] t= 3.00s step= 150 trunk_z= 119.8mm grav_b=(-0.10,-0.12,-0.99) r=0.14m +[headless_play] t= 3.10s step= 155 trunk_z= 121.1mm grav_b=(-0.08,+0.03,-1.00) r=0.14m +[headless_play] t= 3.20s step= 160 trunk_z= 124.3mm grav_b=(-0.05,+0.12,-0.99) r=0.15m +[headless_play] t= 3.30s step= 165 trunk_z= 120.2mm grav_b=(-0.08,-0.03,-1.00) r=0.17m +[headless_play] t= 3.40s step= 170 trunk_z= 123.1mm grav_b=(-0.09,-0.04,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 120.5mm grav_b=(-0.08,+0.13,-0.99) r=0.19m +[headless_play] t= 3.60s step= 180 trunk_z= 121.0mm grav_b=(-0.09,-0.02,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 122.6mm grav_b=(-0.07,-0.08,-0.99) r=0.23m +[headless_play] t= 3.80s step= 190 trunk_z= 118.8mm grav_b=(-0.09,+0.11,-0.99) r=0.24m +[headless_play] t= 3.90s step= 195 trunk_z= 120.9mm grav_b=(-0.09,-0.03,-1.00) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 122.9mm grav_b=(-0.09,-0.08,-0.99) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 119.3mm grav_b=(-0.11,+0.11,-0.99) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 121.8mm grav_b=(-0.10,-0.02,-0.99) r=0.30m +[headless_play] t= 4.30s step= 215 trunk_z= 123.1mm grav_b=(-0.08,-0.10,-0.99) r=0.32m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(-0.11,+0.05,-0.99) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 119.3mm grav_b=(-0.10,-0.00,-0.99) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.05,-0.09,-0.99) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 111.2mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 4.80s step= 240 trunk_z= 112.2mm grav_b=(+0.04,-0.10,-0.99) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 120.9mm grav_b=(-0.00,-0.00,-1.00) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 123.7mm grav_b=(-0.09,+0.03,-1.00) r=0.55m +[headless_play] t= 5.10s step= 255 trunk_z= 119.3mm grav_b=(-0.09,-0.15,-0.98) r=0.58m +[headless_play] t= 5.20s step= 260 trunk_z= 122.0mm grav_b=(-0.07,-0.09,-0.99) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(-0.09,+0.08,-0.99) r=0.63m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(-0.07,-0.06,-1.00) r=0.65m +[headless_play] t= 5.50s step= 275 trunk_z= 115.0mm grav_b=(-0.03,-0.09,-1.00) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 110.9mm grav_b=(-0.03,+0.03,-1.00) r=0.68m +[headless_play] t= 5.70s step= 285 trunk_z= 114.6mm grav_b=(-0.05,-0.02,-1.00) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 109.6mm grav_b=(+0.00,-0.08,-1.00) r=0.72m +[headless_play] t= 5.90s step= 295 trunk_z= 112.9mm grav_b=(+0.05,-0.10,-0.99) r=0.73m +[headless_play] t= 6.00s step= 300 trunk_z= 113.9mm grav_b=(-0.05,+0.08,-1.00) r=0.74m +[headless_play] t= 6.10s step= 305 trunk_z= 117.0mm grav_b=(-0.06,-0.00,-1.00) r=0.75m +[headless_play] t= 6.20s step= 310 trunk_z= 110.3mm grav_b=(-0.07,-0.10,-0.99) r=0.77m +[headless_play] t= 6.30s step= 315 trunk_z= 111.4mm grav_b=(-0.00,-0.00,-1.00) r=0.78m +[headless_play] t= 6.40s step= 320 trunk_z= 112.5mm grav_b=(-0.02,+0.03,-1.00) r=0.79m +[headless_play] t= 6.50s step= 325 trunk_z= 113.5mm grav_b=(-0.05,-0.02,-1.00) r=0.80m +[headless_play] t= 6.60s step= 330 trunk_z= 107.8mm grav_b=(-0.01,-0.10,-0.99) r=0.81m +[headless_play] t= 6.70s step= 335 trunk_z= 113.5mm grav_b=(+0.02,-0.06,-1.00) r=0.82m +[headless_play] t= 6.80s step= 340 trunk_z= 113.3mm grav_b=(-0.02,+0.00,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 118.1mm grav_b=(-0.04,+0.04,-1.00) r=0.82m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(-0.06,-0.10,-0.99) r=0.83m +[headless_play] t= 7.10s step= 355 trunk_z= 119.2mm grav_b=(-0.03,-0.06,-1.00) r=0.83m +[headless_play] t= 7.20s step= 360 trunk_z= 120.1mm grav_b=(-0.02,+0.12,-0.99) r=0.84m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.85m +[headless_play] t= 7.40s step= 370 trunk_z= 120.2mm grav_b=(-0.07,-0.11,-0.99) r=0.86m +[headless_play] t= 7.50s step= 375 trunk_z= 117.5mm grav_b=(-0.05,+0.04,-1.00) r=0.87m +[headless_play] t= 7.60s step= 380 trunk_z= 122.6mm grav_b=(-0.05,+0.08,-1.00) r=0.87m +[headless_play] t= 7.70s step= 385 trunk_z= 117.2mm grav_b=(-0.07,-0.08,-0.99) r=0.88m +[headless_play] t= 7.80s step= 390 trunk_z= 119.0mm grav_b=(-0.05,-0.02,-1.00) r=0.89m +[headless_play] t= 7.90s step= 395 trunk_z= 120.2mm grav_b=(-0.01,+0.11,-0.99) r=0.90m +[headless_play] t= 8.00s step= 400 trunk_z= 118.8mm grav_b=(-0.07,-0.04,-1.00) r=0.91m +[headless_play] t= 8.10s step= 405 trunk_z= 120.6mm grav_b=(-0.04,-0.08,-1.00) r=0.92m +[headless_play] t= 8.20s step= 410 trunk_z= 118.3mm grav_b=(-0.07,+0.10,-0.99) r=0.94m +[headless_play] t= 8.30s step= 415 trunk_z= 120.4mm grav_b=(-0.06,-0.01,-1.00) r=0.95m +[headless_play] t= 8.40s step= 420 trunk_z= 120.5mm grav_b=(-0.07,-0.13,-0.99) r=0.96m +[headless_play] t= 8.50s step= 425 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.98m +[headless_play] t= 8.60s step= 430 trunk_z= 122.7mm grav_b=(-0.06,+0.06,-1.00) r=0.99m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(-0.11,-0.11,-0.99) r=0.97m +[headless_play] t= 8.80s step= 440 trunk_z= 118.7mm grav_b=(-0.16,-0.00,-0.99) r=0.95m +[headless_play] t= 8.90s step= 445 trunk_z= 104.6mm grav_b=(-0.12,+0.09,-0.99) r=0.94m +[headless_play] t= 9.00s step= 450 trunk_z= 111.0mm grav_b=(-0.05,+0.01,-1.00) r=0.93m +[headless_play] t= 9.10s step= 455 trunk_z= 113.5mm grav_b=(-0.02,-0.11,-0.99) r=0.93m +[headless_play] t= 9.20s step= 460 trunk_z= 119.4mm grav_b=(-0.04,-0.04,-1.00) r=0.94m +[headless_play] t= 9.30s step= 465 trunk_z= 120.7mm grav_b=(-0.09,+0.10,-0.99) r=0.96m +[headless_play] t= 9.40s step= 470 trunk_z= 120.1mm grav_b=(-0.10,-0.04,-0.99) r=0.98m +[headless_play] t= 9.50s step= 475 trunk_z= 122.8mm grav_b=(-0.04,-0.12,-0.99) r=1.00m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.06,+0.06,-1.00) r=1.02m +[headless_play] t= 9.70s step= 485 trunk_z= 122.7mm grav_b=(-0.07,+0.04,-1.00) r=1.03m +[headless_play] t= 9.80s step= 490 trunk_z= 118.4mm grav_b=(-0.05,-0.14,-0.99) r=1.05m +[headless_play] t= 9.90s step= 495 trunk_z= 118.9mm grav_b=(-0.03,-0.03,-1.00) r=1.07m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=1.10m +[headless_play] t= 10.10s step= 505 trunk_z= 110.7mm grav_b=(-0.11,-0.25,-0.96) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 108.7mm grav_b=(-0.19,-0.46,-0.87) r=1.15m +[headless_play] t= 10.30s step= 515 trunk_z= 111.3mm grav_b=(-0.29,-0.36,-0.89) r=1.18m +[headless_play] t= 10.40s step= 520 trunk_z= 62.9mm grav_b=(-0.34,-0.08,-0.94) r=1.21m +[headless_play] t= 10.50s step= 525 trunk_z= 33.5mm grav_b=(-0.30,-0.47,-0.83) r=1.23m +[headless_play] RESET at t= 10.60s step= 530 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 127.9mm grav_b=(+0.00,-0.00,-1.00) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 115.7mm grav_b=(-0.03,-0.00,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 10.90s step= 545 trunk_z= 118.6mm grav_b=(-0.02,-0.01,-1.00) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 118.7mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 11.10s step= 555 trunk_z= 117.4mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(-0.09,-0.01,-1.00) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 117.7mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(-0.06,-0.01,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 117.8mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 11.90s step= 595 trunk_z= 117.9mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.00s step= 600 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.10s step= 605 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.20s step= 610 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.40s step= 620 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.60s step= 630 trunk_z= 118.0mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.70s step= 635 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.80s step= 640 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 12.90s step= 645 trunk_z= 118.1mm grav_b=(-0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 13.00s step= 650 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.10s step= 655 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.20s step= 660 trunk_z= 118.2mm grav_b=(-0.08,-0.01,-1.00) r=0.47m +[headless_play] t= 13.30s step= 665 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.60s step= 680 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.70s step= 685 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.80s step= 690 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 14.00s step= 700 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 14.10s step= 705 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(-0.12,-0.02,-0.99) r=0.43m +[headless_play] t= 14.30s step= 715 trunk_z= 117.9mm grav_b=(-0.24,-0.02,-0.97) r=0.40m +[headless_play] t= 14.40s step= 720 trunk_z= 109.7mm grav_b=(-0.32,+0.09,-0.94) r=0.39m +[headless_play] t= 14.50s step= 725 trunk_z= 74.5mm grav_b=(-0.69,+0.22,-0.69) r=0.37m +[headless_play] RESET at t= 14.56s step= 728 (env termination, not a recovery) +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(-0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(-0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 119.3mm grav_b=(-0.04,+0.01,-1.00) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 118.9mm grav_b=(-0.04,+0.01,-1.00) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 118.1mm grav_b=(+0.00,-0.05,-1.00) r=0.45m +[headless_play] t= 15.10s step= 755 trunk_z= 115.1mm grav_b=(-0.06,+0.11,-0.99) r=0.46m +[headless_play] t= 15.20s step= 760 trunk_z= 120.2mm grav_b=(-0.10,-0.07,-0.99) r=0.46m +[headless_play] t= 15.30s step= 765 trunk_z= 118.3mm grav_b=(-0.10,-0.03,-1.00) r=0.46m +[headless_play] t= 15.40s step= 770 trunk_z= 117.7mm grav_b=(-0.10,+0.14,-0.98) r=0.48m +[headless_play] t= 15.50s step= 775 trunk_z= 125.1mm grav_b=(-0.08,+0.02,-1.00) r=0.49m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(-0.06,-0.05,-1.00) r=0.50m +[headless_play] t= 15.70s step= 785 trunk_z= 117.3mm grav_b=(-0.10,+0.10,-0.99) r=0.51m +[headless_play] t= 15.80s step= 790 trunk_z= 125.8mm grav_b=(-0.07,+0.09,-0.99) r=0.53m +[headless_play] t= 15.90s step= 795 trunk_z= 117.1mm grav_b=(-0.09,-0.09,-0.99) r=0.53m +[headless_play] t= 16.00s step= 800 trunk_z= 121.6mm grav_b=(-0.05,-0.02,-1.00) r=0.54m +[headless_play] t= 16.10s step= 805 trunk_z= 117.4mm grav_b=(-0.05,+0.15,-0.99) r=0.56m +[headless_play] t= 16.20s step= 810 trunk_z= 126.9mm grav_b=(-0.06,+0.08,-0.99) r=0.57m +[headless_play] t= 16.30s step= 815 trunk_z= 117.8mm grav_b=(-0.11,-0.10,-0.99) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 121.4mm grav_b=(-0.06,-0.01,-1.00) r=0.59m +[headless_play] t= 16.50s step= 825 trunk_z= 118.7mm grav_b=(-0.05,+0.12,-0.99) r=0.61m +[headless_play] t= 16.60s step= 830 trunk_z= 121.3mm grav_b=(-0.09,-0.01,-1.00) r=0.62m +[headless_play] t= 16.70s step= 835 trunk_z= 118.4mm grav_b=(-0.06,-0.04,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(-0.08,+0.10,-0.99) r=0.65m +[headless_play] t= 16.90s step= 845 trunk_z= 126.0mm grav_b=(-0.08,+0.07,-0.99) r=0.66m +[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(-0.09,-0.08,-0.99) r=0.67m +[headless_play] t= 17.10s step= 855 trunk_z= 121.5mm grav_b=(-0.06,+0.01,-1.00) r=0.68m +[headless_play] t= 17.20s step= 860 trunk_z= 123.9mm grav_b=(-0.05,+0.13,-0.99) r=0.70m +[headless_play] t= 17.30s step= 865 trunk_z= 123.1mm grav_b=(-0.08,+0.02,-1.00) r=0.71m +[headless_play] t= 17.40s step= 870 trunk_z= 120.2mm grav_b=(-0.09,-0.05,-0.99) r=0.72m +[headless_play] t= 17.50s step= 875 trunk_z= 121.3mm grav_b=(-0.06,+0.08,-1.00) r=0.74m +[headless_play] t= 17.60s step= 880 trunk_z= 127.5mm grav_b=(-0.04,+0.11,-0.99) r=0.76m +[headless_play] t= 17.70s step= 885 trunk_z= 118.8mm grav_b=(-0.09,-0.03,-1.00) r=0.76m +[headless_play] t= 17.80s step= 890 trunk_z= 121.4mm grav_b=(-0.07,-0.04,-1.00) r=0.77m +[headless_play] t= 17.90s step= 895 trunk_z= 121.1mm grav_b=(-0.06,+0.08,-0.99) r=0.79m +[headless_play] t= 18.00s step= 900 trunk_z= 124.9mm grav_b=(-0.06,+0.07,-1.00) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 117.8mm grav_b=(-0.08,-0.05,-1.00) r=0.81m +[headless_play] t= 18.20s step= 910 trunk_z= 118.8mm grav_b=(-0.10,+0.12,-0.99) r=0.82m +[headless_play] t= 18.30s step= 915 trunk_z= 122.5mm grav_b=(-0.07,+0.01,-1.00) r=0.83m +[headless_play] t= 18.40s step= 920 trunk_z= 117.1mm grav_b=(-0.03,-0.10,-0.99) r=0.81m +[headless_play] t= 18.50s step= 925 trunk_z= 123.9mm grav_b=(-0.03,+0.13,-0.99) r=0.81m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(-0.09,+0.12,-0.99) r=0.81m +[headless_play] t= 18.70s step= 935 trunk_z= 116.1mm grav_b=(-0.11,-0.08,-0.99) r=0.80m +[headless_play] t= 18.80s step= 940 trunk_z= 124.3mm grav_b=(-0.09,+0.02,-1.00) r=0.79m +[headless_play] t= 18.90s step= 945 trunk_z= 117.4mm grav_b=(-0.06,+0.12,-0.99) r=0.79m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.12,-0.09,-0.99) r=0.78m +[headless_play] t= 19.10s step= 955 trunk_z= 118.9mm grav_b=(-0.13,+0.03,-0.99) r=0.78m +[headless_play] t= 19.20s step= 960 trunk_z= 119.8mm grav_b=(-0.11,+0.09,-0.99) r=0.78m +[headless_play] t= 19.30s step= 965 trunk_z= 119.1mm grav_b=(-0.09,-0.06,-0.99) r=0.77m +[headless_play] t= 19.40s step= 970 trunk_z= 118.2mm grav_b=(-0.11,+0.10,-0.99) r=0.78m +[headless_play] t= 19.50s step= 975 trunk_z= 121.0mm grav_b=(-0.11,+0.03,-0.99) r=0.78m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(-0.07,-0.03,-1.00) r=0.78m +[headless_play] t= 19.70s step= 985 trunk_z= 118.4mm grav_b=(-0.09,+0.13,-0.99) r=0.78m +[headless_play] t= 19.80s step= 990 trunk_z= 119.8mm grav_b=(-0.10,-0.05,-0.99) r=0.78m +[headless_play] t= 19.90s step= 995 trunk_z= 119.8mm grav_b=(-0.11,+0.01,-0.99) r=0.79m +[headless_play] t= 20.00s step=1000 trunk_z= 119.6mm grav_b=(-0.09,+0.09,-0.99) r=0.79m +[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.10,-0.12,-0.99) r=0.79m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..839eb621d215af1ea52dd9235ecd98f6ea67e74d --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t11.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-9.620,-17.647,+0.178) +[headless_play] t= 0.00s step= 0 trunk_z= 124.9mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.03,+0.02,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 118.4mm grav_b=(+0.05,-0.00,-1.00) r=0.53m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(+0.02,+0.05,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(+0.01,+0.02,-1.00) r=0.54m +[headless_play] t= 0.50s step= 25 trunk_z= 113.3mm grav_b=(+0.01,-0.06,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(+0.02,-0.02,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 106.9mm grav_b=(+0.08,+0.05,-1.00) r=0.58m +[headless_play] t= 0.80s step= 40 trunk_z= 113.9mm grav_b=(+0.07,+0.01,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 113.7mm grav_b=(+0.05,-0.10,-0.99) r=0.60m +[headless_play] t= 1.00s step= 50 trunk_z= 111.7mm grav_b=(+0.07,+0.05,-1.00) r=0.62m +[headless_play] t= 1.10s step= 55 trunk_z= 115.3mm grav_b=(+0.03,+0.08,-1.00) r=0.64m +[headless_play] t= 1.20s step= 60 trunk_z= 111.0mm grav_b=(+0.02,-0.06,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 113.2mm grav_b=(+0.05,-0.03,-1.00) r=0.67m +[headless_play] t= 1.40s step= 70 trunk_z= 110.4mm grav_b=(+0.05,+0.06,-1.00) r=0.69m +[headless_play] t= 1.50s step= 75 trunk_z= 114.8mm grav_b=(+0.06,+0.02,-1.00) r=0.71m +[headless_play] t= 1.60s step= 80 trunk_z= 112.3mm grav_b=(+0.04,-0.10,-0.99) r=0.73m +[headless_play] t= 1.70s step= 85 trunk_z= 112.4mm grav_b=(+0.08,-0.01,-1.00) r=0.75m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(+0.03,+0.09,-1.00) r=0.77m +[headless_play] t= 1.90s step= 95 trunk_z= 114.0mm grav_b=(+0.06,+0.01,-1.00) r=0.79m +[headless_play] t= 2.00s step= 100 trunk_z= 112.9mm grav_b=(+0.07,-0.09,-0.99) r=0.81m +[headless_play] t= 2.10s step= 105 trunk_z= 112.5mm grav_b=(+0.11,+0.01,-0.99) r=0.83m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.07,+0.11,-0.99) r=0.85m +[headless_play] t= 2.30s step= 115 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=0.88m +[headless_play] t= 2.40s step= 120 trunk_z= 114.6mm grav_b=(+0.05,-0.08,-1.00) r=0.90m +[headless_play] t= 2.50s step= 125 trunk_z= 111.3mm grav_b=(+0.10,+0.04,-0.99) r=0.92m +[headless_play] t= 2.60s step= 130 trunk_z= 115.4mm grav_b=(+0.05,+0.04,-1.00) r=0.94m +[headless_play] t= 2.70s step= 135 trunk_z= 112.9mm grav_b=(-0.00,-0.07,-1.00) r=0.96m +[headless_play] t= 2.80s step= 140 trunk_z= 111.9mm grav_b=(+0.09,-0.04,-1.00) r=0.97m +[headless_play] t= 2.90s step= 145 trunk_z= 109.6mm grav_b=(+0.10,+0.09,-0.99) r=0.99m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(+0.08,+0.01,-1.00) r=1.00m +[headless_play] t= 3.10s step= 155 trunk_z= 111.7mm grav_b=(+0.05,-0.06,-1.00) r=1.02m +[headless_play] t= 3.20s step= 160 trunk_z= 111.4mm grav_b=(+0.08,+0.04,-1.00) r=1.03m +[headless_play] t= 3.30s step= 165 trunk_z= 113.4mm grav_b=(+0.07,+0.08,-1.00) r=1.05m +[headless_play] t= 3.40s step= 170 trunk_z= 112.7mm grav_b=(+0.06,-0.05,-1.00) r=1.07m +[headless_play] t= 3.50s step= 175 trunk_z= 113.8mm grav_b=(+0.07,-0.05,-1.00) r=1.09m +[headless_play] t= 3.60s step= 180 trunk_z= 110.8mm grav_b=(+0.08,+0.06,-1.00) r=1.11m +[headless_play] t= 3.70s step= 185 trunk_z= 115.8mm grav_b=(+0.05,+0.04,-1.00) r=1.12m +[headless_play] t= 3.80s step= 190 trunk_z= 112.9mm grav_b=(+0.04,-0.08,-1.00) r=1.14m +[headless_play] t= 3.90s step= 195 trunk_z= 112.7mm grav_b=(+0.09,-0.01,-1.00) r=1.16m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(+0.05,+0.13,-0.99) r=1.17m +[headless_play] t= 4.10s step= 205 trunk_z= 115.7mm grav_b=(+0.05,+0.03,-1.00) r=1.19m +[headless_play] t= 4.20s step= 210 trunk_z= 116.1mm grav_b=(+0.02,-0.08,-1.00) r=1.21m +[headless_play] t= 4.30s step= 215 trunk_z= 113.0mm grav_b=(+0.09,+0.03,-1.00) r=1.23m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.06,+0.07,-1.00) r=1.24m +[headless_play] t= 4.50s step= 225 trunk_z= 113.9mm grav_b=(+0.04,-0.06,-1.00) r=1.26m +[headless_play] t= 4.60s step= 230 trunk_z= 112.1mm grav_b=(+0.08,-0.01,-1.00) r=1.28m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.07,+0.11,-0.99) r=1.29m +[headless_play] t= 4.80s step= 240 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) r=1.31m +[headless_play] t= 4.90s step= 245 trunk_z= 119.4mm grav_b=(-0.03,-0.09,-1.00) r=1.30m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(+0.02,-0.02,-1.00) r=1.29m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(-0.00,-0.02,-1.00) r=1.29m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.01,-0.08,-1.00) r=1.29m +[headless_play] t= 5.30s step= 265 trunk_z= 112.0mm grav_b=(+0.02,+0.04,-1.00) r=1.29m +[headless_play] t= 5.40s step= 270 trunk_z= 113.4mm grav_b=(+0.03,-0.02,-1.00) r=1.30m +[headless_play] t= 5.50s step= 275 trunk_z= 110.0mm grav_b=(+0.07,-0.05,-1.00) r=1.31m +[headless_play] t= 5.60s step= 280 trunk_z= 110.3mm grav_b=(+0.06,+0.03,-1.00) r=1.33m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(+0.06,+0.05,-1.00) r=1.34m +[headless_play] t= 5.80s step= 290 trunk_z= 112.7mm grav_b=(+0.04,-0.07,-1.00) r=1.36m +[headless_play] t= 5.90s step= 295 trunk_z= 112.9mm grav_b=(+0.03,+0.03,-1.00) r=1.38m +[headless_play] t= 6.00s step= 300 trunk_z= 115.7mm grav_b=(+0.03,+0.04,-1.00) r=1.40m +[headless_play] t= 6.10s step= 305 trunk_z= 112.2mm grav_b=(+0.08,-0.09,-0.99) r=1.41m +[headless_play] t= 6.20s step= 310 trunk_z= 111.2mm grav_b=(+0.09,-0.00,-1.00) r=1.43m +[headless_play] t= 6.30s step= 315 trunk_z= 113.6mm grav_b=(+0.02,+0.12,-0.99) r=1.45m +[headless_play] t= 6.40s step= 320 trunk_z= 97.2mm grav_b=(+0.07,+0.19,-0.98) r=1.48m +[headless_play] t= 6.50s step= 325 trunk_z= 105.6mm grav_b=(+0.11,+0.25,-0.96) r=1.49m +[headless_play] t= 6.60s step= 330 trunk_z= 104.2mm grav_b=(+0.04,+0.10,-0.99) r=1.52m +[headless_play] t= 6.70s step= 335 trunk_z= 103.8mm grav_b=(-0.12,+0.05,-0.99) r=1.56m +[headless_play] t= 6.80s step= 340 trunk_z= 90.2mm grav_b=(-0.22,-0.03,-0.97) r=1.59m +[headless_play] t= 6.90s step= 345 trunk_z= 80.3mm grav_b=(-0.37,-0.00,-0.93) r=1.61m +[headless_play] t= 7.00s step= 350 trunk_z= 63.3mm grav_b=(-0.71,-0.01,-0.71) r=1.61m +[headless_play] RESET at t= 7.06s step= 353 (env termination, not a recovery) +[headless_play] t= 7.10s step= 355 trunk_z= 119.4mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 7.20s step= 360 trunk_z= 117.3mm grav_b=(+0.04,+0.00,-1.00) r=0.37m +[headless_play] t= 7.30s step= 365 trunk_z= 118.8mm grav_b=(+0.04,-0.02,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 118.0mm grav_b=(-0.00,+0.03,-1.00) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 7.60s step= 380 trunk_z= 112.4mm grav_b=(+0.04,-0.08,-1.00) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 111.9mm grav_b=(+0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 7.80s step= 390 trunk_z= 110.7mm grav_b=(+0.06,+0.05,-1.00) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 114.3mm grav_b=(+0.06,+0.01,-1.00) r=0.37m +[headless_play] t= 8.00s step= 400 trunk_z= 111.7mm grav_b=(+0.08,-0.10,-0.99) r=0.37m +[headless_play] t= 8.10s step= 405 trunk_z= 114.0mm grav_b=(+0.08,-0.03,-1.00) r=0.38m +[headless_play] t= 8.20s step= 410 trunk_z= 112.6mm grav_b=(+0.03,+0.08,-1.00) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 114.2mm grav_b=(+0.04,-0.01,-1.00) r=0.38m +[headless_play] t= 8.40s step= 420 trunk_z= 111.5mm grav_b=(+0.08,-0.08,-0.99) r=0.38m +[headless_play] t= 8.50s step= 425 trunk_z= 111.6mm grav_b=(+0.06,-0.01,-1.00) r=0.38m +[headless_play] t= 8.60s step= 430 trunk_z= 114.0mm grav_b=(+0.07,+0.06,-1.00) r=0.38m +[headless_play] t= 8.70s step= 435 trunk_z= 113.1mm grav_b=(+0.05,-0.06,-1.00) r=0.39m +[headless_play] t= 8.80s step= 440 trunk_z= 114.5mm grav_b=(+0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 8.90s step= 445 trunk_z= 112.1mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 9.00s step= 450 trunk_z= 115.5mm grav_b=(+0.04,+0.06,-1.00) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 113.1mm grav_b=(+0.08,-0.07,-0.99) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 114.3mm grav_b=(+0.10,-0.08,-0.99) r=0.42m +[headless_play] t= 9.30s step= 465 trunk_z= 113.9mm grav_b=(+0.03,+0.03,-1.00) r=0.42m +[headless_play] t= 9.40s step= 470 trunk_z= 118.6mm grav_b=(-0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 9.50s step= 475 trunk_z= 110.0mm grav_b=(+0.03,-0.10,-0.99) r=0.44m +[headless_play] t= 9.60s step= 480 trunk_z= 112.4mm grav_b=(+0.10,-0.04,-0.99) r=0.45m +[headless_play] t= 9.70s step= 485 trunk_z= 111.1mm grav_b=(+0.04,+0.10,-0.99) r=0.45m +[headless_play] t= 9.80s step= 490 trunk_z= 115.6mm grav_b=(+0.03,+0.04,-1.00) r=0.46m +[headless_play] t= 9.90s step= 495 trunk_z= 110.1mm grav_b=(+0.08,-0.09,-0.99) r=0.47m +[headless_play] t= 10.00s step= 500 trunk_z= 112.4mm grav_b=(+0.08,-0.00,-1.00) r=0.48m +[headless_play] t= 10.10s step= 505 trunk_z= 116.2mm grav_b=(+0.01,+0.09,-1.00) r=0.49m +[headless_play] t= 10.20s step= 510 trunk_z= 110.5mm grav_b=(+0.10,-0.06,-0.99) r=0.52m +[headless_play] t= 10.30s step= 515 trunk_z= 113.6mm grav_b=(+0.11,-0.09,-0.99) r=0.54m +[headless_play] t= 10.40s step= 520 trunk_z= 111.4mm grav_b=(+0.05,+0.09,-0.99) r=0.55m +[headless_play] t= 10.50s step= 525 trunk_z= 122.3mm grav_b=(+0.00,+0.04,-1.00) r=0.54m +[headless_play] t= 10.60s step= 530 trunk_z= 120.6mm grav_b=(+0.03,-0.12,-0.99) r=0.55m +[headless_play] t= 10.70s step= 535 trunk_z= 120.1mm grav_b=(+0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 10.80s step= 540 trunk_z= 121.1mm grav_b=(-0.01,+0.04,-1.00) r=0.55m +[headless_play] t= 10.90s step= 545 trunk_z= 118.4mm grav_b=(-0.01,-0.14,-0.99) r=0.56m +[headless_play] t= 11.00s step= 550 trunk_z= 120.5mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 11.10s step= 555 trunk_z= 113.8mm grav_b=(-0.02,+0.13,-0.99) r=0.57m +[headless_play] t= 11.20s step= 560 trunk_z= 120.0mm grav_b=(-0.04,+0.03,-1.00) r=0.58m +[headless_play] t= 11.30s step= 565 trunk_z= 120.8mm grav_b=(-0.02,-0.05,-1.00) r=0.59m +[headless_play] t= 11.40s step= 570 trunk_z= 118.9mm grav_b=(-0.03,+0.07,-1.00) r=0.60m +[headless_play] t= 11.50s step= 575 trunk_z= 123.3mm grav_b=(-0.02,-0.06,-1.00) r=0.61m +[headless_play] t= 11.60s step= 580 trunk_z= 119.6mm grav_b=(-0.03,-0.13,-0.99) r=0.62m +[headless_play] t= 11.70s step= 585 trunk_z= 119.8mm grav_b=(-0.02,+0.01,-1.00) r=0.64m +[headless_play] t= 11.80s step= 590 trunk_z= 122.6mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 11.90s step= 595 trunk_z= 118.1mm grav_b=(+0.00,-0.13,-0.99) r=0.66m +[headless_play] t= 12.00s step= 600 trunk_z= 118.3mm grav_b=(-0.01,+0.02,-1.00) r=0.67m +[headless_play] t= 12.10s step= 605 trunk_z= 118.7mm grav_b=(-0.03,+0.07,-1.00) r=0.69m +[headless_play] t= 12.20s step= 610 trunk_z= 118.9mm grav_b=(-0.06,-0.07,-1.00) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 120.3mm grav_b=(-0.04,-0.01,-1.00) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(-0.05,+0.11,-0.99) r=0.72m +[headless_play] t= 12.50s step= 625 trunk_z= 121.3mm grav_b=(-0.04,-0.04,-1.00) r=0.73m +[headless_play] t= 12.60s step= 630 trunk_z= 119.3mm grav_b=(-0.02,-0.07,-1.00) r=0.74m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(-0.01,+0.04,-1.00) r=0.75m +[headless_play] t= 12.80s step= 640 trunk_z= 120.3mm grav_b=(-0.02,+0.03,-1.00) r=0.77m +[headless_play] t= 12.90s step= 645 trunk_z= 117.5mm grav_b=(-0.04,-0.10,-0.99) r=0.78m +[headless_play] t= 13.00s step= 650 trunk_z= 118.6mm grav_b=(+0.01,+0.04,-1.00) r=0.79m +[headless_play] t= 13.10s step= 655 trunk_z= 117.6mm grav_b=(-0.01,+0.08,-1.00) r=0.81m +[headless_play] t= 13.20s step= 660 trunk_z= 117.4mm grav_b=(-0.07,-0.08,-0.99) r=0.82m +[headless_play] t= 13.30s step= 665 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.83m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(+0.00,+0.11,-0.99) r=0.85m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(-0.05,-0.10,-0.99) r=0.88m +[headless_play] t= 13.60s step= 680 trunk_z= 117.9mm grav_b=(+0.02,-0.08,-1.00) r=0.90m +[headless_play] t= 13.70s step= 685 trunk_z= 122.5mm grav_b=(+0.03,-0.01,-1.00) r=0.91m +[headless_play] t= 13.80s step= 690 trunk_z= 116.2mm grav_b=(-0.06,+0.08,-0.99) r=0.94m +[headless_play] t= 13.90s step= 695 trunk_z= 117.4mm grav_b=(-0.07,-0.09,-0.99) r=0.96m +[headless_play] t= 14.00s step= 700 trunk_z= 123.7mm grav_b=(+0.01,+0.01,-1.00) r=0.97m +[headless_play] t= 14.10s step= 705 trunk_z= 115.0mm grav_b=(-0.02,+0.10,-0.99) r=0.99m +[headless_play] t= 14.20s step= 710 trunk_z= 114.2mm grav_b=(-0.08,-0.08,-0.99) r=1.01m +[headless_play] t= 14.30s step= 715 trunk_z= 121.2mm grav_b=(-0.02,-0.07,-1.00) r=1.02m +[headless_play] t= 14.40s step= 720 trunk_z= 122.8mm grav_b=(-0.02,+0.01,-1.00) r=1.04m +[headless_play] t= 14.50s step= 725 trunk_z= 121.3mm grav_b=(-0.00,+0.04,-1.00) r=1.06m +[headless_play] t= 14.60s step= 730 trunk_z= 117.1mm grav_b=(-0.05,-0.13,-0.99) r=1.07m +[headless_play] t= 14.70s step= 735 trunk_z= 119.2mm grav_b=(-0.00,-0.01,-1.00) r=1.09m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(-0.03,+0.11,-0.99) r=1.10m +[headless_play] t= 14.90s step= 745 trunk_z= 120.0mm grav_b=(-0.08,-0.02,-1.00) r=1.12m +[headless_play] t= 15.00s step= 750 trunk_z= 120.5mm grav_b=(+0.04,-0.09,-0.99) r=1.14m +[headless_play] t= 15.10s step= 755 trunk_z= 115.0mm grav_b=(-0.05,+0.15,-0.99) r=1.16m +[headless_play] t= 15.20s step= 760 trunk_z= 120.6mm grav_b=(-0.05,+0.01,-1.00) r=1.18m +[headless_play] t= 15.30s step= 765 trunk_z= 122.7mm grav_b=(-0.00,-0.14,-0.99) r=1.21m +[headless_play] t= 15.40s step= 770 trunk_z= 119.9mm grav_b=(+0.03,+0.01,-1.00) r=1.22m +[headless_play] t= 15.50s step= 775 trunk_z= 122.3mm grav_b=(+0.03,+0.04,-1.00) r=1.24m +[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(-0.03,-0.18,-0.98) r=1.26m +[headless_play] t= 15.70s step= 785 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=1.28m +[headless_play] t= 15.80s step= 790 trunk_z= 122.0mm grav_b=(+0.02,+0.07,-1.00) r=1.30m +[headless_play] t= 15.90s step= 795 trunk_z= 114.5mm grav_b=(-0.03,-0.15,-0.99) r=1.32m +[headless_play] t= 16.00s step= 800 trunk_z= 119.5mm grav_b=(+0.03,-0.06,-1.00) r=1.33m +[headless_play] t= 16.10s step= 805 trunk_z= 120.5mm grav_b=(+0.01,+0.12,-0.99) r=1.34m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(-0.02,-0.08,-1.00) r=1.36m +[headless_play] t= 16.30s step= 815 trunk_z= 119.5mm grav_b=(+0.03,-0.09,-1.00) r=1.37m +[headless_play] t= 16.40s step= 820 trunk_z= 116.1mm grav_b=(+0.04,+0.13,-0.99) r=1.38m +[headless_play] t= 16.50s step= 825 trunk_z= 120.0mm grav_b=(+0.01,-0.00,-1.00) r=1.40m +[headless_play] t= 16.60s step= 830 trunk_z= 120.3mm grav_b=(+0.02,-0.09,-1.00) r=1.42m +[headless_play] t= 16.70s step= 835 trunk_z= 115.6mm grav_b=(+0.01,+0.08,-1.00) r=1.43m +[headless_play] t= 16.80s step= 840 trunk_z= 115.3mm grav_b=(+0.03,-0.08,-1.00) r=1.44m +[headless_play] t= 16.90s step= 845 trunk_z= 113.4mm grav_b=(+0.00,+0.06,-1.00) r=1.45m +[headless_play] t= 17.00s step= 850 trunk_z= 116.2mm grav_b=(+0.01,-0.07,-1.00) r=1.46m +[headless_play] t= 17.10s step= 855 trunk_z= 113.9mm grav_b=(+0.00,+0.05,-1.00) r=1.47m +[headless_play] t= 17.20s step= 860 trunk_z= 117.2mm grav_b=(+0.06,+0.05,-1.00) r=1.49m +[headless_play] t= 17.30s step= 865 trunk_z= 106.2mm grav_b=(+0.13,+0.11,-0.99) r=1.52m +[headless_play] t= 17.40s step= 870 trunk_z= 104.4mm grav_b=(+0.17,+0.40,-0.90) r=1.54m +[headless_play] t= 17.50s step= 875 trunk_z= 90.6mm grav_b=(+0.29,+0.50,-0.81) r=1.58m +[headless_play] RESET at t= 17.60s step= 880 (env termination, not a recovery) +[headless_play] t= 17.60s step= 880 trunk_z= 127.2mm grav_b=(+0.00,+0.00,-1.00) r=0.31m +[headless_play] t= 17.70s step= 885 trunk_z= 115.2mm grav_b=(+0.02,-0.00,-1.00) r=0.31m +[headless_play] t= 17.80s step= 890 trunk_z= 116.3mm grav_b=(+0.06,-0.01,-1.00) r=0.30m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(+0.05,-0.01,-1.00) r=0.30m +[headless_play] t= 18.00s step= 900 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 18.10s step= 905 trunk_z= 116.5mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.20s step= 910 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.40s step= 920 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.50s step= 925 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.60s step= 930 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.70s step= 935 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.31m +[headless_play] t= 18.80s step= 940 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.30m +[headless_play] t= 18.90s step= 945 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.29m +[headless_play] t= 19.00s step= 950 trunk_z= 118.0mm grav_b=(-0.08,-0.01,-1.00) r=0.30m +[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(-0.13,-0.04,-0.99) r=0.30m +[headless_play] t= 19.20s step= 960 trunk_z= 113.9mm grav_b=(-0.13,+0.07,-0.99) r=0.30m +[headless_play] t= 19.30s step= 965 trunk_z= 88.5mm grav_b=(-0.15,+0.23,-0.96) r=0.31m +[headless_play] t= 19.40s step= 970 trunk_z= 91.2mm grav_b=(-0.03,+0.23,-0.97) r=0.31m +[headless_play] t= 19.50s step= 975 trunk_z= 103.4mm grav_b=(+0.07,+0.04,-1.00) r=0.32m +[headless_play] t= 19.60s step= 980 trunk_z= 109.8mm grav_b=(+0.10,+0.02,-1.00) r=0.31m +[headless_play] t= 19.70s step= 985 trunk_z= 113.7mm grav_b=(+0.10,-0.00,-1.00) r=0.31m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) r=0.31m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(+0.04,-0.00,-1.00) r=0.31m +[headless_play] t= 20.00s step=1000 trunk_z= 118.7mm grav_b=(+0.04,-0.00,-1.00) r=0.31m +[headless_play] t= 20.10s step=1005 trunk_z= 118.1mm grav_b=(+0.04,+0.03,-1.00) r=0.31m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..759388eb0820a556d3c2b16522767c9a3fdee493 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t12.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.578,-17.913,+0.205) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 119.9mm grav_b=(+0.01,-0.05,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 125.3mm grav_b=(+0.05,-0.04,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.01,+0.09,-1.00) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 120.8mm grav_b=(-0.06,+0.03,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(-0.05,-0.09,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 120.5mm grav_b=(+0.00,-0.02,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 123.1mm grav_b=(+0.03,+0.12,-0.99) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 121.6mm grav_b=(+0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 119.9mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 118.5mm grav_b=(-0.04,+0.07,-1.00) r=0.50m +[headless_play] t= 1.20s step= 60 trunk_z= 126.1mm grav_b=(-0.05,+0.11,-0.99) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 119.7mm grav_b=(+0.01,+0.02,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 122.7mm grav_b=(+0.03,-0.03,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 119.0mm grav_b=(-0.01,+0.09,-1.00) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 123.3mm grav_b=(+0.01,+0.05,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 119.1mm grav_b=(+0.03,-0.05,-1.00) r=0.56m +[headless_play] t= 1.80s step= 90 trunk_z= 120.1mm grav_b=(-0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 1.90s step= 95 trunk_z= 125.8mm grav_b=(-0.02,+0.10,-0.99) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 116.3mm grav_b=(-0.01,-0.04,-1.00) r=0.61m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(-0.01,+0.04,-1.00) r=0.62m +[headless_play] t= 2.20s step= 110 trunk_z= 125.6mm grav_b=(+0.01,+0.09,-1.00) r=0.64m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(+0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 118.3mm grav_b=(+0.01,+0.03,-1.00) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 121.6mm grav_b=(+0.00,+0.06,-1.00) r=0.69m +[headless_play] t= 2.60s step= 130 trunk_z= 119.4mm grav_b=(+0.00,-0.07,-1.00) r=0.70m +[headless_play] t= 2.70s step= 135 trunk_z= 116.1mm grav_b=(-0.04,+0.09,-1.00) r=0.71m +[headless_play] t= 2.80s step= 140 trunk_z= 123.3mm grav_b=(-0.03,+0.09,-1.00) r=0.71m +[headless_play] t= 2.90s step= 145 trunk_z= 115.6mm grav_b=(+0.00,-0.09,-1.00) r=0.72m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(-0.05,+0.07,-1.00) r=0.73m +[headless_play] t= 3.10s step= 155 trunk_z= 126.8mm grav_b=(-0.01,+0.10,-1.00) r=0.74m +[headless_play] t= 3.20s step= 160 trunk_z= 118.2mm grav_b=(-0.01,-0.06,-1.00) r=0.76m +[headless_play] t= 3.30s step= 165 trunk_z= 121.0mm grav_b=(-0.06,+0.05,-1.00) r=0.77m +[headless_play] t= 3.40s step= 170 trunk_z= 124.7mm grav_b=(-0.02,+0.12,-0.99) r=0.78m +[headless_play] t= 3.50s step= 175 trunk_z= 121.0mm grav_b=(-0.01,-0.02,-1.00) r=0.81m +[headless_play] t= 3.60s step= 180 trunk_z= 128.4mm grav_b=(+0.08,+0.04,-1.00) r=0.86m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(+0.03,+0.07,-1.00) r=0.91m +[headless_play] t= 3.80s step= 190 trunk_z= 120.5mm grav_b=(+0.06,-0.11,-0.99) r=0.95m +[headless_play] t= 3.90s step= 195 trunk_z= 106.0mm grav_b=(-0.11,-0.14,-0.98) r=1.00m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(-0.13,+0.08,-0.99) r=1.03m +[headless_play] t= 4.10s step= 205 trunk_z= 122.2mm grav_b=(-0.07,+0.09,-0.99) r=1.06m +[headless_play] t= 4.20s step= 210 trunk_z= 117.1mm grav_b=(-0.02,-0.09,-1.00) r=1.08m +[headless_play] t= 4.30s step= 215 trunk_z= 121.4mm grav_b=(+0.02,-0.02,-1.00) r=1.09m +[headless_play] t= 4.40s step= 220 trunk_z= 124.4mm grav_b=(+0.03,+0.07,-1.00) r=1.10m +[headless_play] t= 4.50s step= 225 trunk_z= 120.8mm grav_b=(-0.01,-0.06,-1.00) r=1.12m +[headless_play] t= 4.60s step= 230 trunk_z= 124.0mm grav_b=(-0.06,+0.02,-1.00) r=1.15m +[headless_play] t= 4.70s step= 235 trunk_z= 123.0mm grav_b=(-0.02,+0.10,-0.99) r=1.17m +[headless_play] t= 4.80s step= 240 trunk_z= 120.9mm grav_b=(+0.00,-0.03,-1.00) r=1.19m +[headless_play] t= 4.90s step= 245 trunk_z= 124.1mm grav_b=(-0.02,-0.03,-1.00) r=1.21m +[headless_play] t= 5.00s step= 250 trunk_z= 119.8mm grav_b=(-0.00,+0.09,-1.00) r=1.23m +[headless_play] t= 5.10s step= 255 trunk_z= 120.2mm grav_b=(-0.02,-0.05,-1.00) r=1.25m +[headless_play] t= 5.20s step= 260 trunk_z= 102.6mm grav_b=(-0.09,-0.30,-0.95) r=1.27m +[headless_play] t= 5.30s step= 265 trunk_z= 110.6mm grav_b=(-0.15,-0.38,-0.91) r=1.29m +[headless_play] t= 5.40s step= 270 trunk_z= 104.4mm grav_b=(-0.04,-0.14,-0.99) r=1.31m +[headless_play] t= 5.50s step= 275 trunk_z= 81.1mm grav_b=(+0.24,+0.05,-0.97) r=1.31m +[headless_play] t= 5.60s step= 280 trunk_z= 89.4mm grav_b=(+0.34,+0.26,-0.90) r=1.32m +[headless_play] t= 5.70s step= 285 trunk_z= 86.2mm grav_b=(+0.65,+0.25,-0.72) r=1.33m +[headless_play] RESET at t= 5.78s step= 289 (env termination, not a recovery) +[headless_play] t= 5.80s step= 290 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 5.90s step= 295 trunk_z= 116.8mm grav_b=(-0.00,+0.04,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 118.0mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(+0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 6.20s step= 310 trunk_z= 113.1mm grav_b=(+0.01,+0.11,-0.99) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 116.8mm grav_b=(+0.01,+0.08,-1.00) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 111.4mm grav_b=(+0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 115.1mm grav_b=(+0.01,+0.03,-1.00) r=0.44m +[headless_play] t= 6.60s step= 330 trunk_z= 106.5mm grav_b=(+0.07,+0.13,-0.99) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 112.0mm grav_b=(+0.03,+0.03,-1.00) r=0.44m +[headless_play] t= 6.80s step= 340 trunk_z= 112.7mm grav_b=(+0.03,-0.03,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 111.3mm grav_b=(+0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 113.2mm grav_b=(+0.05,+0.11,-0.99) r=0.45m +[headless_play] t= 7.10s step= 355 trunk_z= 113.3mm grav_b=(+0.05,+0.05,-1.00) r=0.44m +[headless_play] t= 7.20s step= 360 trunk_z= 114.6mm grav_b=(+0.06,-0.05,-1.00) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 114.0mm grav_b=(+0.08,+0.05,-1.00) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 115.9mm grav_b=(+0.05,+0.15,-0.99) r=0.43m +[headless_play] t= 7.50s step= 375 trunk_z= 115.3mm grav_b=(+0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 7.60s step= 380 trunk_z= 116.1mm grav_b=(+0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 7.70s step= 385 trunk_z= 109.7mm grav_b=(+0.05,+0.10,-0.99) r=0.43m +[headless_play] t= 7.80s step= 390 trunk_z= 114.2mm grav_b=(+0.05,+0.11,-0.99) r=0.44m +[headless_play] t= 7.90s step= 395 trunk_z= 111.5mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 114.8mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 8.10s step= 405 trunk_z= 106.3mm grav_b=(+0.07,+0.13,-0.99) r=0.44m +[headless_play] t= 8.20s step= 410 trunk_z= 112.3mm grav_b=(+0.06,+0.04,-1.00) r=0.45m +[headless_play] t= 8.30s step= 415 trunk_z= 111.6mm grav_b=(+0.02,-0.07,-1.00) r=0.45m +[headless_play] t= 8.40s step= 420 trunk_z= 114.3mm grav_b=(+0.05,+0.03,-1.00) r=0.45m +[headless_play] t= 8.50s step= 425 trunk_z= 112.7mm grav_b=(+0.05,+0.13,-0.99) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 113.3mm grav_b=(+0.05,+0.04,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 114.1mm grav_b=(+0.04,-0.05,-1.00) r=0.47m +[headless_play] t= 8.80s step= 440 trunk_z= 114.5mm grav_b=(+0.06,+0.04,-1.00) r=0.47m +[headless_play] t= 8.90s step= 445 trunk_z= 113.2mm grav_b=(+0.06,+0.14,-0.99) r=0.49m +[headless_play] t= 9.00s step= 450 trunk_z= 114.7mm grav_b=(+0.03,+0.04,-1.00) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 114.7mm grav_b=(+0.04,-0.04,-1.00) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 109.5mm grav_b=(+0.05,+0.13,-0.99) r=0.50m +[headless_play] t= 9.30s step= 465 trunk_z= 114.8mm grav_b=(+0.04,+0.11,-0.99) r=0.51m +[headless_play] t= 9.40s step= 470 trunk_z= 110.3mm grav_b=(+0.03,-0.03,-1.00) r=0.52m +[headless_play] t= 9.50s step= 475 trunk_z= 112.5mm grav_b=(+0.15,-0.00,-0.99) r=0.55m +[headless_play] t= 9.60s step= 480 trunk_z= 109.6mm grav_b=(+0.12,+0.20,-0.97) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 126.2mm grav_b=(-0.04,+0.14,-0.99) r=0.60m +[headless_play] t= 9.80s step= 490 trunk_z= 119.8mm grav_b=(-0.01,-0.04,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 118.6mm grav_b=(-0.05,+0.06,-1.00) r=0.65m +[headless_play] t= 10.00s step= 500 trunk_z= 116.8mm grav_b=(+0.05,+0.12,-0.99) r=0.67m +[headless_play] t= 10.10s step= 505 trunk_z= 113.1mm grav_b=(+0.06,+0.02,-1.00) r=0.68m +[headless_play] t= 10.20s step= 510 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 10.30s step= 515 trunk_z= 114.2mm grav_b=(+0.01,+0.09,-1.00) r=0.70m +[headless_play] t= 10.40s step= 520 trunk_z= 112.2mm grav_b=(+0.04,+0.02,-1.00) r=0.72m +[headless_play] t= 10.50s step= 525 trunk_z= 111.9mm grav_b=(+0.06,-0.05,-1.00) r=0.73m +[headless_play] t= 10.60s step= 530 trunk_z= 110.4mm grav_b=(+0.08,+0.05,-1.00) r=0.74m +[headless_play] t= 10.70s step= 535 trunk_z= 114.8mm grav_b=(+0.06,+0.11,-0.99) r=0.76m +[headless_play] t= 10.80s step= 540 trunk_z= 113.8mm grav_b=(+0.03,+0.03,-1.00) r=0.78m +[headless_play] t= 10.90s step= 545 trunk_z= 116.1mm grav_b=(+0.03,-0.04,-1.00) r=0.79m +[headless_play] t= 11.00s step= 550 trunk_z= 111.3mm grav_b=(+0.07,+0.07,-1.00) r=0.80m +[headless_play] t= 11.10s step= 555 trunk_z= 112.4mm grav_b=(+0.09,+0.07,-0.99) r=0.81m +[headless_play] t= 11.20s step= 560 trunk_z= 110.6mm grav_b=(+0.06,-0.03,-1.00) r=0.82m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00) r=0.83m +[headless_play] t= 11.40s step= 570 trunk_z= 114.0mm grav_b=(+0.02,+0.14,-0.99) r=0.85m +[headless_play] t= 11.50s step= 575 trunk_z= 116.4mm grav_b=(+0.02,+0.07,-1.00) r=0.87m +[headless_play] t= 11.60s step= 580 trunk_z= 115.0mm grav_b=(+0.01,-0.05,-1.00) r=0.88m +[headless_play] t= 11.70s step= 585 trunk_z= 115.4mm grav_b=(+0.02,+0.04,-1.00) r=0.89m +[headless_play] t= 11.80s step= 590 trunk_z= 113.8mm grav_b=(+0.06,+0.10,-0.99) r=0.91m +[headless_play] t= 11.90s step= 595 trunk_z= 114.2mm grav_b=(+0.05,+0.02,-1.00) r=0.92m +[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(+0.04,-0.03,-1.00) r=0.94m +[headless_play] t= 12.10s step= 605 trunk_z= 114.0mm grav_b=(+0.00,+0.13,-0.99) r=0.95m +[headless_play] t= 12.20s step= 610 trunk_z= 117.1mm grav_b=(+0.01,+0.06,-1.00) r=0.97m +[headless_play] t= 12.30s step= 615 trunk_z= 115.0mm grav_b=(+0.02,-0.04,-1.00) r=0.99m +[headless_play] t= 12.40s step= 620 trunk_z= 113.8mm grav_b=(+0.03,+0.08,-1.00) r=1.00m +[headless_play] t= 12.50s step= 625 trunk_z= 115.4mm grav_b=(+0.06,+0.11,-0.99) r=1.02m +[headless_play] t= 12.60s step= 630 trunk_z= 114.8mm grav_b=(+0.05,+0.00,-1.00) r=1.03m +[headless_play] t= 12.70s step= 635 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 12.80s step= 640 trunk_z= 118.2mm grav_b=(-0.05,+0.13,-0.99) r=1.06m +[headless_play] t= 12.90s step= 645 trunk_z= 97.8mm grav_b=(-0.05,+0.10,-0.99) r=1.09m +[headless_play] t= 13.00s step= 650 trunk_z= 97.3mm grav_b=(+0.09,+0.16,-0.98) r=1.11m +[headless_play] t= 13.10s step= 655 trunk_z= 98.3mm grav_b=(+0.13,+0.21,-0.97) r=1.11m +[headless_play] t= 13.20s step= 660 trunk_z= 102.4mm grav_b=(+0.05,+0.23,-0.97) r=1.11m +[headless_play] t= 13.30s step= 665 trunk_z= 108.9mm grav_b=(-0.04,+0.16,-0.99) r=1.11m +[headless_play] t= 13.40s step= 670 trunk_z= 110.0mm grav_b=(-0.13,+0.14,-0.98) r=1.14m +[headless_play] t= 13.50s step= 675 trunk_z= 94.4mm grav_b=(-0.17,+0.19,-0.97) r=1.19m +[headless_play] t= 13.60s step= 680 trunk_z= 100.8mm grav_b=(+0.01,+0.23,-0.97) r=1.22m +[headless_play] t= 13.70s step= 685 trunk_z= 103.2mm grav_b=(+0.01,+0.21,-0.98) r=1.26m +[headless_play] t= 13.80s step= 690 trunk_z= 82.9mm grav_b=(-0.00,+0.08,-1.00) r=1.29m +[headless_play] t= 13.90s step= 695 trunk_z= 93.4mm grav_b=(-0.14,+0.02,-0.99) r=1.32m +[headless_play] t= 14.00s step= 700 trunk_z= 89.6mm grav_b=(-0.06,+0.10,-0.99) r=1.35m +[headless_play] t= 14.10s step= 705 trunk_z= 87.4mm grav_b=(+0.03,+0.09,-0.99) r=1.39m +[headless_play] t= 14.20s step= 710 trunk_z= 81.1mm grav_b=(+0.06,+0.19,-0.98) r=1.41m +[headless_play] t= 14.30s step= 715 trunk_z= 66.4mm grav_b=(+0.12,+0.19,-0.97) r=1.44m +[headless_play] t= 14.40s step= 720 trunk_z= 58.5mm grav_b=(+0.33,+0.34,-0.88) r=1.47m +[headless_play] t= 14.50s step= 725 trunk_z= 48.8mm grav_b=(+0.84,-0.00,-0.54) r=1.50m +[headless_play] RESET at t= 14.54s step= 727 (env termination, not a recovery) +[headless_play] t= 14.60s step= 730 trunk_z= 114.1mm 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,-0.01,-1.00) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 117.5mm grav_b=(+0.04,-0.00,-1.00) r=0.50m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(+0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 15.20s step= 760 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 15.40s step= 770 trunk_z= 117.3mm grav_b=(+0.02,-0.03,-1.00) r=0.46m +[headless_play] t= 15.50s step= 775 trunk_z= 117.4mm grav_b=(+0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.42m +[headless_play] t= 15.70s step= 785 trunk_z= 117.4mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 15.80s step= 790 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 15.90s step= 795 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.30s step= 815 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.40s step= 820 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.50s step= 825 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.60s step= 830 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.70s step= 835 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.80s step= 840 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.90s step= 845 trunk_z= 117.5mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 17.00s step= 850 trunk_z= 117.6mm grav_b=(+0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 117.7mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 17.50s step= 875 trunk_z= 117.8mm grav_b=(-0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 17.60s step= 880 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 17.80s step= 890 trunk_z= 117.8mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 17.90s step= 895 trunk_z= 117.9mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 18.00s step= 900 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=0.42m +[headless_play] t= 18.10s step= 905 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(-0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 18.30s step= 915 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.40s step= 920 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.50s step= 925 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.60s step= 930 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.70s step= 935 trunk_z= 117.9mm grav_b=(-0.04,-0.02,-1.00) r=0.42m +[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 18.90s step= 945 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.00s step= 950 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.10s step= 955 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.30s step= 965 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.50s step= 975 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.60s step= 980 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 19.80s step= 990 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 19.90s step= 995 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.42m +[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..b7ba3e4229a546dadce2c6af7ca61119c54ca80c --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t13.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.772,-18.098,+0.201) +[headless_play] t= 0.00s step= 0 trunk_z= 123.1mm grav_b=(-0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.25m +[headless_play] t= 0.20s step= 10 trunk_z= 119.9mm grav_b=(-0.06,+0.02,-1.00) r=0.25m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(-0.08,+0.04,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 121.4mm grav_b=(-0.07,+0.02,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 119.8mm grav_b=(-0.08,+0.05,-1.00) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 122.0mm grav_b=(-0.09,-0.00,-1.00) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 121.4mm grav_b=(-0.10,-0.04,-0.99) r=0.24m +[headless_play] t= 0.80s step= 40 trunk_z= 121.1mm grav_b=(-0.12,+0.08,-0.99) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 121.4mm grav_b=(-0.11,-0.07,-0.99) r=0.23m +[headless_play] t= 1.00s step= 50 trunk_z= 122.0mm grav_b=(-0.10,-0.02,-0.99) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 123.6mm grav_b=(-0.10,+0.09,-0.99) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 118.8mm grav_b=(-0.08,-0.08,-0.99) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 121.5mm grav_b=(-0.10,-0.03,-0.99) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 121.9mm grav_b=(-0.10,+0.08,-0.99) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 118.2mm grav_b=(-0.10,-0.09,-0.99) r=0.22m +[headless_play] t= 1.60s step= 80 trunk_z= 120.9mm grav_b=(-0.10,-0.02,-0.99) r=0.23m +[headless_play] t= 1.70s step= 85 trunk_z= 123.7mm grav_b=(-0.09,+0.06,-0.99) r=0.24m +[headless_play] t= 1.80s step= 90 trunk_z= 118.7mm grav_b=(-0.09,-0.15,-0.98) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 120.3mm grav_b=(-0.10,-0.02,-0.99) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 119.6mm grav_b=(-0.12,+0.09,-0.99) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 118.0mm grav_b=(-0.13,-0.09,-0.99) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 120.8mm grav_b=(-0.10,-0.08,-0.99) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 117.4mm grav_b=(-0.09,+0.10,-0.99) r=0.30m +[headless_play] t= 2.40s step= 120 trunk_z= 126.8mm grav_b=(-0.06,+0.04,-1.00) r=0.32m +[headless_play] t= 2.50s step= 125 trunk_z= 118.9mm grav_b=(-0.07,-0.12,-0.99) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 122.1mm grav_b=(-0.12,-0.02,-0.99) r=0.35m +[headless_play] t= 2.70s step= 135 trunk_z= 121.0mm grav_b=(-0.08,+0.07,-0.99) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 116.5mm grav_b=(-0.12,-0.12,-0.99) r=0.38m +[headless_play] t= 2.90s step= 145 trunk_z= 118.5mm grav_b=(-0.14,-0.05,-0.99) r=0.39m +[headless_play] t= 3.00s step= 150 trunk_z= 119.0mm grav_b=(-0.13,+0.11,-0.98) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 124.4mm grav_b=(-0.10,-0.03,-0.99) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 122.7mm grav_b=(-0.05,-0.08,-1.00) r=0.45m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(-0.11,+0.11,-0.99) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 124.1mm grav_b=(-0.09,+0.08,-0.99) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 112.6mm grav_b=(-0.02,-0.11,-0.99) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 115.1mm grav_b=(+0.05,+0.11,-0.99) r=0.56m +[headless_play] t= 3.70s step= 185 trunk_z= 131.4mm grav_b=(-0.02,+0.15,-0.99) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 130.0mm grav_b=(-0.02,+0.11,-0.99) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 113.1mm grav_b=(-0.12,-0.01,-0.99) r=0.66m +[headless_play] t= 4.00s step= 200 trunk_z= 123.0mm grav_b=(-0.21,-0.01,-0.98) r=0.69m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(-0.05,+0.04,-1.00) r=0.72m +[headless_play] t= 4.20s step= 210 trunk_z= 105.8mm grav_b=(+0.00,-0.18,-0.98) r=0.73m +[headless_play] t= 4.30s step= 215 trunk_z= 123.7mm grav_b=(+0.01,-0.17,-0.99) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 121.3mm grav_b=(+0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 4.50s step= 225 trunk_z= 124.4mm grav_b=(-0.06,+0.07,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(-0.05,-0.04,-1.00) r=0.79m +[headless_play] t= 4.70s step= 235 trunk_z= 118.9mm grav_b=(-0.07,+0.02,-1.00) r=0.81m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(-0.06,+0.13,-0.99) r=0.82m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(-0.03,-0.00,-1.00) r=0.83m +[headless_play] t= 5.00s step= 250 trunk_z= 119.9mm grav_b=(-0.02,-0.14,-0.99) r=0.85m +[headless_play] t= 5.10s step= 255 trunk_z= 119.7mm grav_b=(-0.00,-0.07,-1.00) r=0.87m +[headless_play] t= 5.20s step= 260 trunk_z= 120.3mm grav_b=(-0.05,+0.07,-1.00) r=0.88m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(-0.04,-0.05,-1.00) r=0.90m +[headless_play] t= 5.40s step= 270 trunk_z= 119.7mm grav_b=(+0.02,-0.06,-1.00) r=0.91m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(-0.06,+0.08,-1.00) r=0.92m +[headless_play] t= 5.60s step= 280 trunk_z= 120.1mm grav_b=(-0.06,+0.06,-1.00) r=0.93m +[headless_play] t= 5.70s step= 285 trunk_z= 113.9mm grav_b=(-0.03,-0.09,-1.00) r=0.95m +[headless_play] t= 5.80s step= 290 trunk_z= 119.0mm grav_b=(-0.02,-0.03,-1.00) r=0.95m +[headless_play] t= 5.90s step= 295 trunk_z= 117.8mm grav_b=(-0.03,+0.06,-1.00) r=0.96m +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(-0.06,-0.09,-0.99) r=0.97m +[headless_play] t= 6.10s step= 305 trunk_z= 121.2mm grav_b=(-0.04,-0.07,-1.00) r=0.98m +[headless_play] t= 6.20s step= 310 trunk_z= 117.4mm grav_b=(-0.04,+0.05,-1.00) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 116.7mm grav_b=(-0.05,-0.09,-0.99) r=0.99m +[headless_play] t= 6.40s step= 320 trunk_z= 107.8mm grav_b=(+0.00,-0.18,-0.98) r=1.01m +[headless_play] t= 6.50s step= 325 trunk_z= 102.0mm grav_b=(+0.08,-0.11,-0.99) r=1.04m +[headless_play] t= 6.60s step= 330 trunk_z= 92.1mm grav_b=(-0.02,+0.02,-1.00) r=1.07m +[headless_play] t= 6.70s step= 335 trunk_z= 83.0mm grav_b=(-0.19,-0.03,-0.98) r=1.10m +[headless_play] t= 6.80s step= 340 trunk_z= 88.9mm grav_b=(-0.18,+0.08,-0.98) r=1.12m +[headless_play] t= 6.90s step= 345 trunk_z= 50.8mm grav_b=(-0.10,+0.16,-0.98) r=1.13m +[headless_play] t= 7.00s step= 350 trunk_z= 62.9mm grav_b=(-0.12,-0.02,-0.99) r=1.13m +[headless_play] t= 7.10s step= 355 trunk_z= 81.6mm grav_b=(-0.14,-0.10,-0.98) r=1.14m +[headless_play] t= 7.20s step= 360 trunk_z= 79.7mm grav_b=(-0.06,+0.04,-1.00) r=1.15m +[headless_play] t= 7.30s step= 365 trunk_z= 81.0mm grav_b=(+0.04,-0.03,-1.00) r=1.15m +[headless_play] t= 7.40s step= 370 trunk_z= 87.9mm grav_b=(-0.02,-0.07,-1.00) r=1.16m +[headless_play] t= 7.50s step= 375 trunk_z= 89.6mm grav_b=(-0.04,-0.06,-1.00) r=1.16m +[headless_play] t= 7.60s step= 380 trunk_z= 91.0mm grav_b=(-0.05,-0.04,-1.00) r=1.16m +[headless_play] t= 7.70s step= 385 trunk_z= 91.2mm grav_b=(-0.07,-0.02,-1.00) r=1.16m +[headless_play] t= 7.80s step= 390 trunk_z= 91.5mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 7.90s step= 395 trunk_z= 91.9mm grav_b=(-0.06,-0.02,-1.00) r=1.17m +[headless_play] t= 8.00s step= 400 trunk_z= 92.1mm grav_b=(-0.06,-0.02,-1.00) r=1.16m +[headless_play] t= 8.10s step= 405 trunk_z= 92.2mm grav_b=(-0.06,-0.02,-1.00) r=1.17m +[headless_play] t= 8.20s step= 410 trunk_z= 92.2mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.30s step= 415 trunk_z= 92.4mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.40s step= 420 trunk_z= 92.4mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.50s step= 425 trunk_z= 92.4mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.60s step= 430 trunk_z= 92.6mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.70s step= 435 trunk_z= 92.6mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.80s step= 440 trunk_z= 92.6mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 8.90s step= 445 trunk_z= 92.7mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.00s step= 450 trunk_z= 92.7mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.10s step= 455 trunk_z= 92.7mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.20s step= 460 trunk_z= 92.7mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.30s step= 465 trunk_z= 92.8mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.40s step= 470 trunk_z= 92.9mm grav_b=(-0.07,-0.02,-1.00) r=1.17m +[headless_play] t= 9.50s step= 475 trunk_z= 92.7mm grav_b=(-0.16,-0.02,-0.99) r=1.20m +[headless_play] t= 9.60s step= 480 trunk_z= 90.3mm grav_b=(-0.22,+0.05,-0.97) r=1.21m +[headless_play] t= 9.70s step= 485 trunk_z= 62.8mm grav_b=(-0.14,+0.07,-0.99) r=1.22m +[headless_play] t= 9.80s step= 490 trunk_z= 54.8mm grav_b=(-0.31,-0.01,-0.95) r=1.27m +[headless_play] t= 9.90s step= 495 trunk_z= 35.2mm grav_b=(-0.33,+0.49,-0.81) r=1.29m +[headless_play] RESET at t= 9.98s step= 499 (env termination, not a recovery) +[headless_play] t= 10.00s step= 500 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.56m +[headless_play] t= 10.10s step= 505 trunk_z= 117.3mm grav_b=(-0.03,+0.04,-1.00) r=0.58m +[headless_play] t= 10.20s step= 510 trunk_z= 116.9mm grav_b=(-0.00,+0.04,-1.00) r=0.59m +[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(+0.01,-0.04,-1.00) r=0.60m +[headless_play] t= 10.40s step= 520 trunk_z= 118.7mm grav_b=(-0.02,-0.06,-1.00) r=0.62m +[headless_play] t= 10.50s step= 525 trunk_z= 116.0mm grav_b=(-0.04,+0.09,-1.00) r=0.63m +[headless_play] t= 10.60s step= 530 trunk_z= 118.7mm grav_b=(-0.02,+0.01,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 115.1mm grav_b=(-0.01,-0.06,-1.00) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 112.8mm grav_b=(-0.02,+0.10,-1.00) r=0.69m +[headless_play] t= 10.90s step= 545 trunk_z= 119.4mm grav_b=(-0.04,+0.05,-1.00) r=0.72m +[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(-0.04,-0.06,-1.00) r=0.74m +[headless_play] t= 11.10s step= 555 trunk_z= 114.3mm grav_b=(-0.01,+0.07,-1.00) r=0.75m +[headless_play] t= 11.20s step= 560 trunk_z= 120.4mm grav_b=(-0.04,+0.06,-1.00) r=0.77m +[headless_play] t= 11.30s step= 565 trunk_z= 116.0mm grav_b=(-0.03,-0.07,-1.00) r=0.79m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.81m +[headless_play] t= 11.50s step= 575 trunk_z= 120.3mm grav_b=(+0.00,+0.14,-0.99) r=0.83m +[headless_play] t= 11.60s step= 580 trunk_z= 120.7mm grav_b=(-0.05,+0.05,-1.00) r=0.85m +[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.04,-0.04,-1.00) r=0.87m +[headless_play] t= 11.80s step= 590 trunk_z= 113.8mm grav_b=(-0.00,+0.10,-0.99) r=0.88m +[headless_play] t= 11.90s step= 595 trunk_z= 119.8mm grav_b=(-0.01,+0.09,-1.00) r=0.89m +[headless_play] t= 12.00s step= 600 trunk_z= 114.8mm grav_b=(-0.01,-0.06,-1.00) r=0.90m +[headless_play] t= 12.10s step= 605 trunk_z= 116.2mm grav_b=(+0.00,+0.02,-1.00) r=0.92m +[headless_play] t= 12.20s step= 610 trunk_z= 120.1mm grav_b=(+0.01,+0.14,-0.99) r=0.93m +[headless_play] t= 12.30s step= 615 trunk_z= 118.4mm grav_b=(-0.04,+0.01,-1.00) r=0.95m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00) r=0.97m +[headless_play] t= 12.50s step= 625 trunk_z= 116.0mm grav_b=(+0.00,+0.15,-0.99) r=0.98m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(+0.00,+0.07,-1.00) r=1.00m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(-0.03,-0.03,-1.00) r=1.02m +[headless_play] t= 12.80s step= 640 trunk_z= 113.8mm grav_b=(+0.00,+0.10,-1.00) r=1.04m +[headless_play] t= 12.90s step= 645 trunk_z= 121.8mm grav_b=(-0.00,+0.08,-1.00) r=1.06m +[headless_play] t= 13.00s step= 650 trunk_z= 117.9mm grav_b=(-0.05,-0.07,-1.00) r=1.08m +[headless_play] t= 13.10s step= 655 trunk_z= 117.3mm grav_b=(-0.04,+0.04,-1.00) r=1.09m +[headless_play] t= 13.20s step= 660 trunk_z= 120.2mm grav_b=(-0.03,+0.08,-1.00) r=1.11m +[headless_play] t= 13.30s step= 665 trunk_z= 114.6mm grav_b=(-0.02,-0.04,-1.00) r=1.13m +[headless_play] t= 13.40s step= 670 trunk_z= 115.6mm grav_b=(-0.01,+0.02,-1.00) r=1.15m +[headless_play] t= 13.50s step= 675 trunk_z= 120.5mm grav_b=(-0.04,+0.12,-0.99) r=1.17m +[headless_play] t= 13.60s step= 680 trunk_z= 117.8mm grav_b=(-0.04,+0.02,-1.00) r=1.19m +[headless_play] t= 13.70s step= 685 trunk_z= 116.1mm grav_b=(-0.02,+0.01,-1.00) r=1.20m +[headless_play] t= 13.80s step= 690 trunk_z= 106.5mm grav_b=(+0.01,+0.18,-0.98) r=1.22m +[headless_play] t= 13.90s step= 695 trunk_z= 105.8mm grav_b=(-0.04,+0.36,-0.93) r=1.23m +[headless_play] t= 14.00s step= 700 trunk_z= 109.8mm grav_b=(+0.01,+0.34,-0.94) r=1.23m +[headless_play] t= 14.10s step= 705 trunk_z= 80.9mm grav_b=(-0.04,+0.34,-0.94) r=1.24m +[headless_play] t= 14.20s step= 710 trunk_z= 73.3mm grav_b=(-0.31,+0.67,-0.67) r=1.27m +[headless_play] RESET at t= 14.28s step= 714 (env termination, not a recovery) +[headless_play] t= 14.30s step= 715 trunk_z= 118.4mm grav_b=(-0.01,+0.00,-1.00) r=0.31m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(-0.02,+0.04,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 117.0mm grav_b=(+0.01,+0.08,-1.00) r=0.32m +[headless_play] t= 14.60s step= 730 trunk_z= 114.5mm grav_b=(+0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 14.70s step= 735 trunk_z= 113.5mm grav_b=(-0.01,-0.04,-1.00) r=0.34m +[headless_play] t= 14.80s step= 740 trunk_z= 112.9mm grav_b=(+0.04,+0.09,-1.00) r=0.35m +[headless_play] t= 14.90s step= 745 trunk_z= 120.8mm grav_b=(-0.01,+0.12,-0.99) r=0.35m +[headless_play] t= 15.00s step= 750 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 15.10s step= 755 trunk_z= 116.0mm grav_b=(-0.00,-0.02,-1.00) r=0.37m +[headless_play] t= 15.20s step= 760 trunk_z= 113.6mm grav_b=(+0.01,+0.07,-1.00) r=0.37m +[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(-0.03,+0.06,-1.00) r=0.37m +[headless_play] t= 15.40s step= 770 trunk_z= 111.9mm grav_b=(-0.01,-0.08,-1.00) r=0.38m +[headless_play] t= 15.50s step= 775 trunk_z= 114.6mm grav_b=(+0.00,+0.05,-1.00) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 118.8mm grav_b=(-0.03,+0.07,-1.00) r=0.38m +[headless_play] t= 15.70s step= 785 trunk_z= 111.3mm grav_b=(-0.02,-0.04,-1.00) r=0.39m +[headless_play] t= 15.80s step= 790 trunk_z= 112.9mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(+0.01,+0.11,-0.99) r=0.39m +[headless_play] t= 16.00s step= 800 trunk_z= 113.1mm grav_b=(-0.06,-0.06,-1.00) r=0.40m +[headless_play] t= 16.10s step= 805 trunk_z= 114.6mm grav_b=(-0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 16.20s step= 810 trunk_z= 114.4mm grav_b=(+0.03,+0.12,-0.99) r=0.39m +[headless_play] t= 16.30s step= 815 trunk_z= 116.1mm grav_b=(-0.05,-0.06,-1.00) r=0.39m +[headless_play] t= 16.40s step= 820 trunk_z= 115.4mm grav_b=(+0.00,-0.06,-1.00) r=0.40m +[headless_play] t= 16.50s step= 825 trunk_z= 113.5mm grav_b=(+0.01,+0.13,-0.99) r=0.39m +[headless_play] t= 16.60s step= 830 trunk_z= 122.9mm grav_b=(-0.04,+0.08,-1.00) r=0.39m +[headless_play] t= 16.70s step= 835 trunk_z= 115.1mm grav_b=(-0.04,-0.08,-1.00) r=0.39m +[headless_play] t= 16.80s step= 840 trunk_z= 113.2mm grav_b=(+0.03,+0.07,-1.00) r=0.39m +[headless_play] t= 16.90s step= 845 trunk_z= 118.5mm grav_b=(+0.02,+0.12,-0.99) r=0.39m +[headless_play] t= 17.00s step= 850 trunk_z= 114.9mm grav_b=(-0.05,-0.08,-1.00) r=0.40m +[headless_play] t= 17.10s step= 855 trunk_z= 115.4mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 115.9mm grav_b=(+0.03,+0.14,-0.99) r=0.41m +[headless_play] t= 17.30s step= 865 trunk_z= 119.1mm grav_b=(-0.04,+0.02,-1.00) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 116.5mm grav_b=(-0.04,-0.05,-1.00) r=0.43m +[headless_play] t= 17.50s step= 875 trunk_z= 112.6mm grav_b=(-0.01,+0.11,-0.99) r=0.43m +[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.03,+0.02,-1.00) r=0.44m +[headless_play] t= 17.70s step= 885 trunk_z= 118.2mm grav_b=(-0.06,-0.09,-0.99) r=0.45m +[headless_play] t= 17.80s step= 890 trunk_z= 118.4mm grav_b=(-0.03,+0.00,-1.00) r=0.46m +[headless_play] t= 17.90s step= 895 trunk_z= 117.9mm grav_b=(-0.04,+0.06,-1.00) r=0.46m +[headless_play] t= 18.00s step= 900 trunk_z= 114.7mm grav_b=(-0.05,-0.09,-0.99) r=0.47m +[headless_play] t= 18.10s step= 905 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 18.20s step= 910 trunk_z= 116.0mm grav_b=(+0.03,+0.09,-1.00) r=0.49m +[headless_play] t= 18.30s step= 915 trunk_z= 115.4mm grav_b=(-0.05,-0.05,-1.00) r=0.50m +[headless_play] t= 18.40s step= 920 trunk_z= 112.9mm grav_b=(-0.02,+0.06,-1.00) r=0.50m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(-0.01,+0.06,-1.00) r=0.51m +[headless_play] t= 18.60s step= 930 trunk_z= 111.1mm grav_b=(-0.01,-0.06,-1.00) r=0.53m +[headless_play] t= 18.70s step= 935 trunk_z= 111.1mm grav_b=(+0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 18.80s step= 940 trunk_z= 121.8mm grav_b=(+0.02,+0.13,-0.99) r=0.54m +[headless_play] t= 18.90s step= 945 trunk_z= 121.9mm grav_b=(-0.07,+0.00,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 122.9mm grav_b=(-0.02,-0.10,-0.99) r=0.58m +[headless_play] t= 19.10s step= 955 trunk_z= 118.8mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 19.20s step= 960 trunk_z= 120.9mm grav_b=(+0.00,+0.11,-0.99) r=0.59m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(-0.03,-0.06,-1.00) r=0.60m +[headless_play] t= 19.40s step= 970 trunk_z= 120.8mm grav_b=(+0.00,-0.10,-1.00) r=0.61m +[headless_play] t= 19.50s step= 975 trunk_z= 115.7mm grav_b=(+0.02,+0.03,-1.00) r=0.62m +[headless_play] t= 19.60s step= 980 trunk_z= 122.9mm grav_b=(-0.01,+0.06,-1.00) r=0.63m +[headless_play] t= 19.70s step= 985 trunk_z= 116.3mm grav_b=(-0.04,-0.11,-0.99) r=0.64m +[headless_play] t= 19.80s step= 990 trunk_z= 117.1mm grav_b=(+0.00,-0.03,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 120.0mm grav_b=(-0.03,+0.11,-0.99) r=0.67m +[headless_play] t= 20.00s step=1000 trunk_z= 119.2mm grav_b=(-0.04,-0.01,-1.00) r=0.69m +[headless_play] t= 20.10s step=1005 trunk_z= 118.8mm grav_b=(-0.02,-0.09,-1.00) r=0.70m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..36a77e0cd99b69dba00b79c64bb72547abfe88b2 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.449,-18.142,+0.197) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 119.6mm grav_b=(+0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 119.8mm grav_b=(+0.02,+0.03,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 121.4mm grav_b=(+0.00,-0.05,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 0.60s step= 30 trunk_z= 121.2mm grav_b=(-0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 119.5mm grav_b=(-0.03,+0.02,-1.00) r=0.47m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(-0.00,-0.02,-1.00) r=0.47m +[headless_play] t= 0.90s step= 45 trunk_z= 119.1mm grav_b=(+0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 120.1mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 1.20s step= 60 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 122.4mm grav_b=(-0.01,-0.10,-0.99) r=0.47m +[headless_play] t= 1.40s step= 70 trunk_z= 119.4mm grav_b=(-0.04,+0.02,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 122.3mm grav_b=(-0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 118.9mm grav_b=(-0.03,-0.14,-0.99) r=0.47m +[headless_play] t= 1.70s step= 85 trunk_z= 126.0mm grav_b=(-0.01,-0.11,-0.99) r=0.47m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(-0.02,+0.07,-1.00) r=0.47m +[headless_play] t= 1.90s step= 95 trunk_z= 121.4mm grav_b=(-0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 123.0mm grav_b=(+0.03,-0.09,-1.00) r=0.47m +[headless_play] t= 2.10s step= 105 trunk_z= 117.8mm grav_b=(-0.04,+0.05,-1.00) r=0.48m +[headless_play] t= 2.20s step= 110 trunk_z= 123.6mm grav_b=(-0.04,+0.05,-1.00) r=0.48m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(-0.00,-0.15,-0.99) r=0.48m +[headless_play] t= 2.40s step= 120 trunk_z= 120.9mm grav_b=(-0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 122.7mm grav_b=(-0.02,+0.08,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 120.3mm grav_b=(-0.00,-0.07,-1.00) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 125.3mm grav_b=(+0.01,-0.10,-1.00) r=0.50m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(-0.05,+0.05,-1.00) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 123.0mm grav_b=(-0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 3.00s step= 150 trunk_z= 119.4mm grav_b=(+0.02,-0.12,-0.99) r=0.51m +[headless_play] t= 3.10s step= 155 trunk_z= 119.7mm grav_b=(-0.05,+0.02,-1.00) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 123.9mm grav_b=(-0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 118.6mm grav_b=(-0.01,-0.15,-0.99) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 127.6mm grav_b=(-0.07,-0.15,-0.99) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 121.8mm grav_b=(-0.08,+0.01,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 125.0mm grav_b=(-0.00,+0.08,-1.00) r=0.53m +[headless_play] t= 3.70s step= 185 trunk_z= 118.3mm grav_b=(+0.03,-0.13,-0.99) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 125.6mm grav_b=(-0.01,-0.06,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 120.4mm grav_b=(-0.04,+0.08,-1.00) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 121.2mm grav_b=(-0.03,-0.04,-1.00) r=0.57m +[headless_play] t= 4.10s step= 205 trunk_z= 123.8mm grav_b=(-0.02,-0.08,-1.00) r=0.57m +[headless_play] t= 4.20s step= 210 trunk_z= 119.1mm grav_b=(-0.03,+0.07,-1.00) r=0.59m +[headless_play] t= 4.30s step= 215 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 4.40s step= 220 trunk_z= 121.8mm grav_b=(+0.01,-0.08,-1.00) r=0.60m +[headless_play] t= 4.50s step= 225 trunk_z= 118.7mm grav_b=(-0.04,+0.05,-1.00) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 122.1mm grav_b=(-0.03,+0.00,-1.00) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 121.7mm grav_b=(-0.02,-0.09,-1.00) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 120.1mm grav_b=(-0.05,+0.04,-1.00) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 122.7mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 121.6mm grav_b=(-0.01,-0.09,-1.00) r=0.68m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.07,+0.09,-0.99) r=0.69m +[headless_play] t= 5.20s step= 260 trunk_z= 123.8mm grav_b=(-0.02,+0.07,-1.00) r=0.70m +[headless_play] t= 5.30s step= 265 trunk_z= 118.0mm grav_b=(+0.00,-0.13,-0.99) r=0.71m +[headless_play] t= 5.40s step= 270 trunk_z= 121.9mm grav_b=(-0.02,-0.05,-1.00) r=0.71m +[headless_play] t= 5.50s step= 275 trunk_z= 121.5mm grav_b=(-0.04,+0.12,-0.99) r=0.72m +[headless_play] t= 5.60s step= 280 trunk_z= 122.3mm grav_b=(+0.00,+0.02,-1.00) r=0.73m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.00,-0.12,-0.99) r=0.73m +[headless_play] t= 5.80s step= 290 trunk_z= 119.6mm grav_b=(-0.03,+0.01,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 123.9mm grav_b=(-0.02,+0.07,-1.00) r=0.75m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(+0.01,-0.12,-0.99) r=0.76m +[headless_play] t= 6.10s step= 305 trunk_z= 124.3mm grav_b=(-0.02,-0.09,-1.00) r=0.76m +[headless_play] t= 6.20s step= 310 trunk_z= 116.9mm grav_b=(-0.07,+0.08,-0.99) r=0.78m +[headless_play] t= 6.30s step= 315 trunk_z= 122.8mm grav_b=(-0.03,+0.03,-1.00) r=0.78m +[headless_play] t= 6.40s step= 320 trunk_z= 118.6mm grav_b=(+0.01,-0.13,-0.99) r=0.79m +[headless_play] t= 6.50s step= 325 trunk_z= 118.7mm grav_b=(-0.02,-0.01,-1.00) r=0.79m +[headless_play] t= 6.60s step= 330 trunk_z= 121.8mm grav_b=(-0.01,+0.06,-1.00) r=0.80m +[headless_play] t= 6.70s step= 335 trunk_z= 118.3mm grav_b=(+0.01,-0.12,-0.99) r=0.81m +[headless_play] t= 6.80s step= 340 trunk_z= 120.8mm grav_b=(-0.01,-0.04,-1.00) r=0.82m +[headless_play] t= 6.90s step= 345 trunk_z= 121.4mm grav_b=(-0.05,+0.10,-0.99) r=0.84m +[headless_play] t= 7.00s step= 350 trunk_z= 121.3mm grav_b=(-0.01,-0.01,-1.00) r=0.85m +[headless_play] t= 7.10s step= 355 trunk_z= 122.2mm grav_b=(+0.03,-0.10,-0.99) r=0.86m +[headless_play] t= 7.20s step= 360 trunk_z= 117.7mm grav_b=(-0.05,+0.07,-1.00) r=0.87m +[headless_play] t= 7.30s step= 365 trunk_z= 125.2mm grav_b=(-0.03,+0.08,-1.00) r=0.89m +[headless_play] t= 7.40s step= 370 trunk_z= 116.5mm grav_b=(+0.00,-0.12,-0.99) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 124.4mm grav_b=(-0.00,-0.08,-1.00) r=0.90m +[headless_play] t= 7.60s step= 380 trunk_z= 117.4mm grav_b=(-0.04,+0.09,-0.99) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 123.1mm grav_b=(-0.02,+0.04,-1.00) r=0.93m +[headless_play] t= 7.80s step= 390 trunk_z= 119.7mm grav_b=(-0.03,-0.14,-0.99) r=0.93m +[headless_play] t= 7.90s step= 395 trunk_z= 120.9mm grav_b=(-0.04,-0.05,-1.00) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 121.8mm grav_b=(+0.12,+0.07,-0.99) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 118.0mm grav_b=(+0.15,-0.20,-0.97) r=0.97m +[headless_play] t= 8.20s step= 410 trunk_z= 111.1mm grav_b=(+0.17,-0.25,-0.95) r=0.99m +[headless_play] t= 8.30s step= 415 trunk_z= 127.7mm grav_b=(+0.10,-0.17,-0.98) r=1.01m +[headless_play] t= 8.40s step= 420 trunk_z= 115.8mm grav_b=(-0.10,-0.10,-0.99) r=1.06m +[headless_play] t= 8.50s step= 425 trunk_z= 86.8mm grav_b=(-0.20,-0.06,-0.98) r=1.12m +[headless_play] t= 8.60s step= 430 trunk_z= 83.0mm grav_b=(-0.05,+0.10,-0.99) r=1.17m +[headless_play] t= 8.70s step= 435 trunk_z= 91.2mm grav_b=(-0.06,+0.16,-0.99) r=1.20m +[headless_play] t= 8.80s step= 440 trunk_z= 91.2mm grav_b=(+0.04,-0.06,-1.00) r=1.23m +[headless_play] t= 8.90s step= 445 trunk_z= 95.3mm grav_b=(+0.00,+0.07,-1.00) r=1.24m +[headless_play] t= 9.00s step= 450 trunk_z= 96.2mm grav_b=(-0.01,+0.05,-1.00) r=1.25m +[headless_play] t= 9.10s step= 455 trunk_z= 94.7mm grav_b=(-0.06,-0.03,-1.00) r=1.25m +[headless_play] t= 9.20s step= 460 trunk_z= 99.6mm grav_b=(-0.05,-0.09,-0.99) r=1.24m +[headless_play] t= 9.30s step= 465 trunk_z= 92.2mm grav_b=(-0.03,+0.08,-1.00) r=1.23m +[headless_play] t= 9.40s step= 470 trunk_z= 95.9mm grav_b=(-0.04,-0.07,-1.00) r=1.23m +[headless_play] t= 9.50s step= 475 trunk_z= 93.5mm grav_b=(+0.00,-0.09,-1.00) r=1.22m +[headless_play] t= 9.60s step= 480 trunk_z= 93.9mm grav_b=(-0.07,+0.05,-1.00) r=1.20m +[headless_play] t= 9.70s step= 485 trunk_z= 96.4mm grav_b=(-0.03,-0.03,-1.00) r=1.18m +[headless_play] t= 9.80s step= 490 trunk_z= 96.4mm grav_b=(-0.01,-0.13,-0.99) r=1.17m +[headless_play] t= 9.90s step= 495 trunk_z= 94.5mm grav_b=(-0.04,+0.01,-1.00) r=1.15m +[headless_play] t= 10.00s step= 500 trunk_z= 96.9mm grav_b=(-0.02,-0.00,-1.00) r=1.13m +[headless_play] t= 10.10s step= 505 trunk_z= 95.3mm grav_b=(-0.01,-0.12,-0.99) r=1.12m +[headless_play] t= 10.20s step= 510 trunk_z= 95.5mm grav_b=(-0.04,+0.00,-1.00) r=1.11m +[headless_play] t= 10.30s step= 515 trunk_z= 101.3mm grav_b=(-0.02,+0.02,-1.00) r=1.09m +[headless_play] t= 10.40s step= 520 trunk_z= 95.0mm grav_b=(-0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 10.50s step= 525 trunk_z= 97.3mm grav_b=(-0.03,+0.00,-1.00) r=1.10m +[headless_play] t= 10.60s step= 530 trunk_z= 97.6mm grav_b=(-0.04,+0.03,-1.00) r=1.09m +[headless_play] t= 10.70s step= 535 trunk_z= 98.5mm grav_b=(-0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 10.80s step= 540 trunk_z= 96.8mm grav_b=(+0.01,-0.04,-1.00) r=1.09m +[headless_play] t= 10.90s step= 545 trunk_z= 100.1mm grav_b=(-0.03,-0.06,-1.00) r=1.09m +[headless_play] t= 11.00s step= 550 trunk_z= 96.7mm grav_b=(-0.06,+0.00,-1.00) r=1.08m +[headless_play] t= 11.10s step= 555 trunk_z= 99.1mm grav_b=(+0.01,-0.04,-1.00) r=1.07m +[headless_play] t= 11.20s step= 560 trunk_z= 94.9mm grav_b=(+0.02,-0.08,-1.00) r=1.08m +[headless_play] t= 11.30s step= 565 trunk_z= 97.4mm grav_b=(-0.01,-0.02,-1.00) r=1.08m +[headless_play] t= 11.40s step= 570 trunk_z= 96.2mm grav_b=(-0.05,+0.03,-1.00) r=1.07m +[headless_play] t= 11.50s step= 575 trunk_z= 97.1mm grav_b=(-0.05,-0.01,-1.00) r=1.06m +[headless_play] t= 11.60s step= 580 trunk_z= 97.0mm grav_b=(-0.03,-0.06,-1.00) r=1.08m +[headless_play] t= 11.70s step= 585 trunk_z= 97.6mm grav_b=(-0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 11.80s step= 590 trunk_z= 96.4mm grav_b=(-0.00,+0.04,-1.00) r=1.06m +[headless_play] t= 11.90s step= 595 trunk_z= 106.4mm grav_b=(-0.06,+0.20,-0.98) r=1.03m +[headless_play] t= 12.00s step= 600 trunk_z= 108.6mm grav_b=(-0.04,+0.23,-0.97) r=1.02m +[headless_play] t= 12.10s step= 605 trunk_z= 110.8mm grav_b=(-0.04,+0.29,-0.96) r=1.02m +[headless_play] t= 12.20s step= 610 trunk_z= 109.1mm grav_b=(+0.01,+0.21,-0.98) r=1.02m +[headless_play] t= 12.30s step= 615 trunk_z= 105.2mm grav_b=(+0.18,+0.36,-0.91) r=1.02m +[headless_play] t= 12.40s step= 620 trunk_z= 104.1mm grav_b=(+0.28,+0.36,-0.89) r=1.01m +[headless_play] t= 12.50s step= 625 trunk_z= 42.4mm grav_b=(-0.07,+0.78,-0.62) r=1.01m +[headless_play] RESET at t= 12.54s step= 627 (env termination, not a recovery) +[headless_play] t= 12.60s step= 630 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 12.80s step= 640 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.29m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 13.20s step= 660 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.60s step= 680 trunk_z= 117.7mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.80s step= 690 trunk_z= 117.8mm grav_b=(-0.00,-0.01,-1.00) r=0.28m +[headless_play] t= 13.90s step= 695 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.00s step= 700 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.20s step= 710 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.30s step= 715 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.40s step= 720 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.50s step= 725 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.60s step= 730 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.70s step= 735 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.80s step= 740 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 14.90s step= 745 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.00s step= 750 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.30s step= 765 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.40s step= 770 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.50s step= 775 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 15.60s step= 780 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 15.70s step= 785 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.28m +[headless_play] t= 15.80s step= 790 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.28m +[headless_play] t= 15.90s step= 795 trunk_z= 117.9mm grav_b=(-0.08,-0.01,-1.00) r=0.27m +[headless_play] t= 16.00s step= 800 trunk_z= 118.2mm grav_b=(-0.10,-0.01,-1.00) r=0.27m +[headless_play] t= 16.10s step= 805 trunk_z= 118.2mm grav_b=(-0.08,-0.01,-1.00) r=0.27m +[headless_play] t= 16.20s step= 810 trunk_z= 118.1mm grav_b=(-0.04,-0.02,-1.00) r=0.27m +[headless_play] t= 16.30s step= 815 trunk_z= 118.4mm grav_b=(-0.02,-0.02,-1.00) r=0.27m +[headless_play] t= 16.40s step= 820 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 16.50s step= 825 trunk_z= 118.2mm grav_b=(-0.04,-0.02,-1.00) r=0.27m +[headless_play] t= 16.60s step= 830 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 16.70s step= 835 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 16.80s step= 840 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 17.00s step= 850 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 17.10s step= 855 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 17.20s step= 860 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 17.30s step= 865 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 17.40s step= 870 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=0.27m +[headless_play] t= 17.50s step= 875 trunk_z= 118.3mm grav_b=(-0.04,-0.01,-1.00) r=0.27m +[headless_play] t= 17.60s step= 880 trunk_z= 118.3mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 17.70s step= 885 trunk_z= 118.3mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 17.80s step= 890 trunk_z= 118.3mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 17.90s step= 895 trunk_z= 118.2mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.00s step= 900 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.10s step= 905 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.20s step= 910 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.30s step= 915 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.40s step= 920 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.27m +[headless_play] t= 18.50s step= 925 trunk_z= 118.5mm grav_b=(-0.04,+0.00,-1.00) r=0.27m +[headless_play] t= 18.60s step= 930 trunk_z= 120.0mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 18.70s step= 935 trunk_z= 121.3mm grav_b=(-0.00,+0.02,-1.00) r=0.28m +[headless_play] t= 18.80s step= 940 trunk_z= 120.3mm grav_b=(-0.00,+0.06,-1.00) r=0.28m +[headless_play] t= 18.90s step= 945 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 19.00s step= 950 trunk_z= 119.6mm grav_b=(-0.05,+0.03,-1.00) r=0.29m +[headless_play] t= 19.10s step= 955 trunk_z= 120.8mm grav_b=(-0.04,+0.02,-1.00) r=0.29m +[headless_play] t= 19.20s step= 960 trunk_z= 120.2mm grav_b=(-0.05,+0.00,-1.00) r=0.29m +[headless_play] t= 19.30s step= 965 trunk_z= 120.2mm grav_b=(-0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 19.40s step= 970 trunk_z= 120.3mm grav_b=(-0.02,-0.02,-1.00) r=0.29m +[headless_play] t= 19.50s step= 975 trunk_z= 120.6mm grav_b=(-0.06,+0.07,-1.00) r=0.30m +[headless_play] t= 19.60s step= 980 trunk_z= 120.9mm grav_b=(-0.05,-0.03,-1.00) r=0.31m +[headless_play] t= 19.70s step= 985 trunk_z= 119.5mm grav_b=(-0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 19.80s step= 990 trunk_z= 119.2mm grav_b=(-0.06,+0.08,-0.99) r=0.33m +[headless_play] t= 19.90s step= 995 trunk_z= 120.7mm grav_b=(-0.06,-0.08,-0.99) r=0.34m +[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.00,-0.05,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 119.1mm grav_b=(-0.04,+0.06,-1.00) r=0.35m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..3911db3da1a1b0c6cf5c3cf68cd80955b9b6cdc6 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t15.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.6mm grav_b=(-0.00,+0.00,-1.00) root_w=(-1.755,-17.739,+0.203) +[headless_play] t= 0.00s step= 0 trunk_z= 125.0mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 116.6mm grav_b=(+0.07,-0.01,-1.00) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 117.5mm grav_b=(+0.05,-0.02,-1.00) r=0.35m +[headless_play] t= 0.50s step= 25 trunk_z= 117.5mm grav_b=(+0.04,-0.02,-1.00) r=0.36m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 1.30s step= 65 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 116.9mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(+0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(+0.03,-0.00,-1.00) r=0.29m +[headless_play] t= 4.50s step= 225 trunk_z= 118.6mm grav_b=(+0.05,+0.00,-1.00) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 119.9mm grav_b=(+0.07,+0.01,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 120.7mm grav_b=(+0.07,+0.01,-1.00) r=0.26m +[headless_play] t= 4.80s step= 240 trunk_z= 117.8mm grav_b=(-0.00,+0.08,-1.00) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(-0.06,-0.01,-1.00) r=0.25m +[headless_play] t= 5.00s step= 250 trunk_z= 119.4mm grav_b=(+0.04,-0.08,-1.00) r=0.25m +[headless_play] t= 5.10s step= 255 trunk_z= 120.5mm grav_b=(-0.03,+0.08,-1.00) r=0.24m +[headless_play] t= 5.20s step= 260 trunk_z= 119.3mm grav_b=(-0.09,+0.07,-0.99) r=0.23m +[headless_play] t= 5.30s step= 265 trunk_z= 117.3mm grav_b=(-0.07,-0.14,-0.99) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.08,-0.07,-0.99) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 112.6mm grav_b=(+0.12,+0.14,-0.98) r=0.21m +[headless_play] t= 5.60s step= 280 trunk_z= 120.3mm grav_b=(+0.05,-0.03,-1.00) r=0.21m +[headless_play] t= 5.70s step= 285 trunk_z= 120.9mm grav_b=(+0.01,-0.17,-0.99) r=0.22m +[headless_play] t= 5.80s step= 290 trunk_z= 117.3mm grav_b=(+0.03,-0.08,-1.00) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(-0.02,+0.05,-1.00) r=0.21m +[headless_play] t= 6.00s step= 300 trunk_z= 114.0mm grav_b=(+0.01,-0.12,-0.99) r=0.22m +[headless_play] t= 6.10s step= 305 trunk_z= 109.5mm grav_b=(+0.07,+0.04,-1.00) r=0.22m +[headless_play] t= 6.20s step= 310 trunk_z= 114.2mm grav_b=(+0.04,+0.04,-1.00) r=0.22m +[headless_play] t= 6.30s step= 315 trunk_z= 111.0mm grav_b=(+0.05,-0.06,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 111.2mm grav_b=(-0.01,+0.10,-1.00) r=0.23m +[headless_play] t= 6.50s step= 325 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 109.2mm grav_b=(+0.07,-0.05,-1.00) r=0.25m +[headless_play] t= 6.70s step= 335 trunk_z= 110.8mm grav_b=(+0.04,+0.13,-0.99) r=0.26m +[headless_play] t= 6.80s step= 340 trunk_z= 111.8mm grav_b=(+0.05,+0.01,-1.00) r=0.27m +[headless_play] t= 6.90s step= 345 trunk_z= 111.4mm grav_b=(+0.08,-0.04,-1.00) r=0.28m +[headless_play] t= 7.00s step= 350 trunk_z= 114.1mm grav_b=(-0.01,+0.15,-0.99) r=0.29m +[headless_play] t= 7.10s step= 355 trunk_z= 113.3mm grav_b=(+0.01,-0.02,-1.00) r=0.30m +[headless_play] t= 7.20s step= 360 trunk_z= 112.4mm grav_b=(+0.07,-0.06,-1.00) r=0.31m +[headless_play] t= 7.30s step= 365 trunk_z= 113.0mm grav_b=(+0.03,+0.14,-0.99) r=0.32m +[headless_play] t= 7.40s step= 370 trunk_z= 115.1mm grav_b=(+0.00,-0.03,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 114.1mm grav_b=(+0.05,-0.07,-1.00) r=0.35m +[headless_play] t= 7.60s step= 380 trunk_z= 112.5mm grav_b=(+0.00,+0.11,-0.99) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 114.7mm grav_b=(-0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 7.80s step= 390 trunk_z= 111.5mm grav_b=(+0.08,-0.09,-0.99) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 104.6mm grav_b=(+0.20,+0.16,-0.97) r=0.46m +[headless_play] t= 8.00s step= 400 trunk_z= 120.1mm grav_b=(+0.32,-0.07,-0.95) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 105.2mm grav_b=(+0.31,-0.17,-0.94) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 135.4mm grav_b=(+0.20,-0.16,-0.97) r=0.60m +[headless_play] t= 8.30s step= 415 trunk_z= 99.7mm grav_b=(+0.13,+0.04,-0.99) r=0.67m +[headless_play] t= 8.40s step= 420 trunk_z= 96.7mm grav_b=(-0.02,+0.04,-1.00) r=0.70m +[headless_play] t= 8.50s step= 425 trunk_z= 102.5mm grav_b=(+0.02,-0.11,-0.99) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 116.1mm grav_b=(+0.05,+0.12,-0.99) r=0.78m +[headless_play] t= 8.70s step= 435 trunk_z= 118.9mm grav_b=(+0.03,+0.16,-0.99) r=0.81m +[headless_play] t= 8.80s step= 440 trunk_z= 123.4mm grav_b=(-0.03,+0.01,-1.00) r=0.83m +[headless_play] t= 8.90s step= 445 trunk_z= 122.9mm grav_b=(-0.03,-0.09,-1.00) r=0.86m +[headless_play] t= 9.00s step= 450 trunk_z= 124.4mm grav_b=(-0.04,-0.08,-1.00) r=0.88m +[headless_play] t= 9.10s step= 455 trunk_z= 118.7mm grav_b=(-0.08,+0.03,-1.00) r=0.92m +[headless_play] t= 9.20s step= 460 trunk_z= 114.4mm grav_b=(-0.09,-0.12,-0.99) r=0.94m +[headless_play] t= 9.30s step= 465 trunk_z= 112.7mm grav_b=(-0.00,+0.01,-1.00) r=0.95m +[headless_play] t= 9.40s step= 470 trunk_z= 111.4mm grav_b=(+0.05,+0.11,-0.99) r=0.97m +[headless_play] t= 9.50s step= 475 trunk_z= 108.8mm grav_b=(+0.06,-0.06,-1.00) r=0.98m +[headless_play] t= 9.60s step= 480 trunk_z= 113.0mm grav_b=(-0.01,+0.02,-1.00) r=0.98m +[headless_play] t= 9.70s step= 485 trunk_z= 112.5mm grav_b=(+0.02,+0.03,-1.00) r=0.99m +[headless_play] t= 9.80s step= 490 trunk_z= 111.5mm grav_b=(+0.06,-0.04,-1.00) r=1.00m +[headless_play] t= 9.90s step= 495 trunk_z= 111.2mm grav_b=(+0.03,+0.06,-1.00) r=1.01m +[headless_play] t= 10.00s step= 500 trunk_z= 112.1mm grav_b=(+0.06,+0.02,-1.00) r=1.01m +[headless_play] t= 10.10s step= 505 trunk_z= 112.1mm grav_b=(+0.07,-0.04,-1.00) r=1.01m +[headless_play] t= 10.20s step= 510 trunk_z= 111.6mm grav_b=(-0.00,+0.08,-1.00) r=1.02m +[headless_play] t= 10.30s step= 515 trunk_z= 112.4mm grav_b=(+0.02,-0.02,-1.00) r=1.03m +[headless_play] t= 10.40s step= 520 trunk_z= 112.2mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 10.50s step= 525 trunk_z= 110.6mm grav_b=(+0.05,+0.07,-1.00) r=1.04m +[headless_play] t= 10.60s step= 530 trunk_z= 112.9mm grav_b=(+0.09,-0.07,-0.99) r=1.05m +[headless_play] t= 10.70s step= 535 trunk_z= 115.4mm grav_b=(+0.04,+0.00,-1.00) r=1.05m +[headless_play] t= 10.80s step= 540 trunk_z= 121.4mm grav_b=(+0.02,+0.05,-1.00) r=1.06m +[headless_play] t= 10.90s step= 545 trunk_z= 119.3mm grav_b=(+0.02,-0.12,-0.99) r=1.07m +[headless_play] t= 11.00s step= 550 trunk_z= 120.2mm grav_b=(-0.02,-0.02,-1.00) r=1.08m +[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(-0.03,+0.05,-1.00) r=1.09m +[headless_play] t= 11.20s step= 560 trunk_z= 116.3mm grav_b=(+0.02,-0.06,-1.00) r=1.11m +[headless_play] t= 11.30s step= 565 trunk_z= 115.1mm grav_b=(-0.04,+0.14,-0.99) r=1.12m +[headless_play] t= 11.40s step= 570 trunk_z= 103.1mm grav_b=(-0.05,+0.29,-0.95) r=1.14m +[headless_play] t= 11.50s step= 575 trunk_z= 109.9mm grav_b=(-0.11,+0.22,-0.97) r=1.16m +[headless_play] t= 11.60s step= 580 trunk_z= 109.6mm grav_b=(-0.02,+0.13,-0.99) r=1.17m +[headless_play] t= 11.70s step= 585 trunk_z= 97.3mm grav_b=(+0.13,+0.09,-0.99) r=1.20m +[headless_play] t= 11.80s step= 590 trunk_z= 76.6mm grav_b=(+0.19,-0.10,-0.98) r=1.22m +[headless_play] t= 11.90s step= 595 trunk_z= 68.1mm grav_b=(+0.79,-0.04,-0.62) r=1.23m +[headless_play] RESET at t= 11.94s step= 597 (env termination, not a recovery) +[headless_play] t= 12.00s step= 600 trunk_z= 114.3mm grav_b=(-0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.21m +[headless_play] t= 12.20s step= 610 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.21m +[headless_play] t= 12.30s step= 615 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=0.21m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 12.50s step= 625 trunk_z= 115.9mm grav_b=(+0.03,+0.01,-1.00) r=0.20m +[headless_play] t= 12.60s step= 630 trunk_z= 114.6mm grav_b=(+0.04,+0.04,-1.00) r=0.20m +[headless_play] t= 12.70s step= 635 trunk_z= 113.3mm grav_b=(+0.05,-0.04,-1.00) r=0.19m +[headless_play] t= 12.80s step= 640 trunk_z= 112.3mm grav_b=(+0.04,-0.04,-1.00) r=0.18m +[headless_play] t= 12.90s step= 645 trunk_z= 111.0mm grav_b=(+0.02,+0.10,-0.99) r=0.17m +[headless_play] t= 13.00s step= 650 trunk_z= 109.2mm grav_b=(+0.05,-0.02,-1.00) r=0.17m +[headless_play] t= 13.10s step= 655 trunk_z= 111.1mm grav_b=(+0.07,-0.06,-1.00) r=0.16m +[headless_play] t= 13.20s step= 660 trunk_z= 109.8mm grav_b=(+0.06,+0.05,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 112.7mm grav_b=(+0.03,+0.02,-1.00) r=0.18m +[headless_play] t= 13.40s step= 670 trunk_z= 110.1mm grav_b=(+0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 13.50s step= 675 trunk_z= 109.3mm grav_b=(+0.03,+0.05,-1.00) r=0.22m +[headless_play] t= 13.60s step= 680 trunk_z= 110.0mm grav_b=(+0.06,-0.00,-1.00) r=0.23m +[headless_play] t= 13.70s step= 685 trunk_z= 109.5mm grav_b=(+0.09,-0.07,-0.99) r=0.23m +[headless_play] t= 13.80s step= 690 trunk_z= 109.8mm grav_b=(+0.04,+0.13,-0.99) r=0.24m +[headless_play] t= 13.90s step= 695 trunk_z= 114.1mm grav_b=(+0.08,+0.06,-1.00) r=0.26m +[headless_play] t= 14.00s step= 700 trunk_z= 113.3mm grav_b=(+0.04,-0.12,-0.99) r=0.27m +[headless_play] t= 14.10s step= 705 trunk_z= 114.7mm grav_b=(+0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 14.20s step= 710 trunk_z= 120.5mm grav_b=(+0.03,+0.12,-0.99) r=0.30m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(-0.01,-0.10,-1.00) r=0.31m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(+0.05,-0.08,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 112.2mm grav_b=(+0.02,+0.11,-0.99) r=0.34m +[headless_play] t= 14.60s step= 730 trunk_z= 113.8mm grav_b=(+0.04,-0.02,-1.00) r=0.36m +[headless_play] t= 14.70s step= 735 trunk_z= 110.4mm grav_b=(+0.05,-0.05,-1.00) r=0.37m +[headless_play] t= 14.80s step= 740 trunk_z= 108.8mm grav_b=(+0.05,+0.11,-0.99) r=0.39m +[headless_play] t= 14.90s step= 745 trunk_z= 112.0mm grav_b=(+0.07,-0.03,-1.00) r=0.40m +[headless_play] t= 15.00s step= 750 trunk_z= 112.6mm grav_b=(+0.05,-0.04,-1.00) r=0.42m +[headless_play] t= 15.10s step= 755 trunk_z= 111.0mm grav_b=(+0.02,+0.10,-0.99) r=0.44m +[headless_play] t= 15.20s step= 760 trunk_z= 111.6mm grav_b=(+0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 15.30s step= 765 trunk_z= 110.6mm grav_b=(+0.06,-0.05,-1.00) r=0.47m +[headless_play] t= 15.40s step= 770 trunk_z= 108.6mm grav_b=(+0.04,+0.09,-1.00) r=0.49m +[headless_play] t= 15.50s step= 775 trunk_z= 110.9mm grav_b=(+0.06,-0.01,-1.00) r=0.51m +[headless_play] t= 15.60s step= 780 trunk_z= 110.8mm grav_b=(+0.06,-0.04,-1.00) r=0.52m +[headless_play] t= 15.70s step= 785 trunk_z= 108.7mm grav_b=(+0.03,+0.08,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 111.3mm grav_b=(+0.06,+0.02,-1.00) r=0.56m +[headless_play] t= 15.90s step= 795 trunk_z= 109.0mm grav_b=(+0.06,-0.09,-0.99) r=0.57m +[headless_play] t= 16.00s step= 800 trunk_z= 110.0mm grav_b=(+0.08,+0.02,-1.00) r=0.58m +[headless_play] t= 16.10s step= 805 trunk_z= 111.1mm grav_b=(+0.07,+0.05,-1.00) r=0.61m +[headless_play] t= 16.20s step= 810 trunk_z= 107.9mm grav_b=(+0.06,-0.08,-0.99) r=0.62m +[headless_play] t= 16.30s step= 815 trunk_z= 110.3mm grav_b=(+0.08,+0.01,-1.00) r=0.64m +[headless_play] t= 16.40s step= 820 trunk_z= 112.8mm grav_b=(+0.06,+0.07,-1.00) r=0.66m +[headless_play] t= 16.50s step= 825 trunk_z= 107.8mm grav_b=(+0.05,-0.07,-1.00) r=0.68m +[headless_play] t= 16.60s step= 830 trunk_z= 109.9mm grav_b=(+0.05,+0.04,-1.00) r=0.69m +[headless_play] t= 16.70s step= 835 trunk_z= 111.1mm grav_b=(+0.06,+0.02,-1.00) r=0.71m +[headless_play] t= 16.80s step= 840 trunk_z= 109.7mm grav_b=(+0.08,-0.05,-1.00) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 109.4mm grav_b=(+0.06,+0.08,-1.00) r=0.73m +[headless_play] t= 17.00s step= 850 trunk_z= 115.9mm grav_b=(+0.04,+0.01,-1.00) r=0.74m +[headless_play] t= 17.10s step= 855 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.76m +[headless_play] t= 17.20s step= 860 trunk_z= 119.6mm grav_b=(+0.00,+0.11,-0.99) r=0.80m +[headless_play] t= 17.30s step= 865 trunk_z= 114.8mm grav_b=(-0.01,-0.07,-1.00) r=0.83m +[headless_play] t= 17.40s step= 870 trunk_z= 113.6mm grav_b=(-0.03,+0.07,-1.00) r=0.85m +[headless_play] t= 17.50s step= 875 trunk_z= 114.7mm grav_b=(+0.02,+0.05,-1.00) r=0.87m +[headless_play] t= 17.60s step= 880 trunk_z= 113.5mm grav_b=(+0.06,-0.09,-0.99) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 113.8mm grav_b=(+0.01,+0.07,-1.00) r=0.91m +[headless_play] t= 17.80s step= 890 trunk_z= 119.2mm grav_b=(+0.00,+0.11,-0.99) r=0.93m +[headless_play] t= 17.90s step= 895 trunk_z= 113.8mm grav_b=(+0.00,-0.11,-0.99) r=0.95m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.97m +[headless_play] t= 18.10s step= 905 trunk_z= 117.6mm grav_b=(-0.05,+0.14,-0.99) r=0.99m +[headless_play] t= 18.20s step= 910 trunk_z= 103.2mm grav_b=(-0.09,+0.13,-0.99) r=1.02m +[headless_play] t= 18.30s step= 915 trunk_z= 107.2mm grav_b=(-0.00,+0.15,-0.99) r=1.04m +[headless_play] t= 18.40s step= 920 trunk_z= 107.9mm grav_b=(+0.07,+0.23,-0.97) r=1.04m +[headless_play] t= 18.50s step= 925 trunk_z= 105.0mm grav_b=(+0.07,+0.28,-0.96) r=1.06m +[headless_play] t= 18.60s step= 930 trunk_z= 106.8mm grav_b=(+0.08,+0.28,-0.96) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 99.7mm grav_b=(+0.03,+0.19,-0.98) r=1.13m +[headless_play] t= 18.80s step= 940 trunk_z= 84.7mm grav_b=(-0.18,+0.21,-0.96) r=1.17m +[headless_play] t= 18.90s step= 945 trunk_z= 73.3mm grav_b=(+0.23,+0.24,-0.94) r=1.20m +[headless_play] t= 19.00s step= 950 trunk_z= 49.1mm grav_b=(+0.63,+0.46,-0.62) r=1.20m +[headless_play] RESET at t= 19.06s step= 953 (env termination, not a recovery) +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.31m +[headless_play] t= 19.30s step= 965 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00) r=0.31m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 19.50s step= 975 trunk_z= 117.8mm grav_b=(-0.01,+0.02,-1.00) r=0.32m +[headless_play] t= 19.60s step= 980 trunk_z= 117.3mm grav_b=(-0.02,-0.04,-1.00) r=0.32m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(-0.05,+0.05,-1.00) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 120.2mm grav_b=(-0.04,+0.04,-1.00) r=0.34m +[headless_play] t= 19.90s step= 995 trunk_z= 117.0mm grav_b=(-0.02,-0.08,-1.00) r=0.35m +[headless_play] t= 20.00s step=1000 trunk_z= 117.8mm grav_b=(+0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 20.10s step=1005 trunk_z= 121.5mm grav_b=(-0.03,+0.11,-0.99) r=0.38m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..88cea730073594f683af877a5640f72386355b24 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.370,-18.390,+0.171) +[headless_play] t= 0.00s step= 0 trunk_z= 118.2mm grav_b=(-0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.02,-0.02,-1.00) r=0.54m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.07,+0.00,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 115.0mm grav_b=(+0.08,-0.04,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 108.4mm grav_b=(+0.06,-0.11,-0.99) r=0.58m +[headless_play] t= 0.50s step= 25 trunk_z= 111.3mm grav_b=(+0.12,+0.02,-0.99) r=0.59m +[headless_play] t= 0.60s step= 30 trunk_z= 111.1mm grav_b=(+0.15,-0.08,-0.99) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 113.0mm grav_b=(+0.12,-0.02,-0.99) r=0.62m +[headless_play] t= 0.80s step= 40 trunk_z= 114.4mm grav_b=(+0.07,+0.13,-0.99) r=0.63m +[headless_play] t= 0.90s step= 45 trunk_z= 121.1mm grav_b=(+0.05,+0.02,-1.00) r=0.65m +[headless_play] t= 1.00s step= 50 trunk_z= 119.7mm grav_b=(+0.07,-0.09,-0.99) r=0.68m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.07,+0.07,-1.00) r=0.70m +[headless_play] t= 1.20s step= 60 trunk_z= 115.5mm grav_b=(+0.08,-0.01,-1.00) r=0.71m +[headless_play] t= 1.30s step= 65 trunk_z= 113.3mm grav_b=(+0.09,-0.13,-0.99) r=0.73m +[headless_play] t= 1.40s step= 70 trunk_z= 110.9mm grav_b=(+0.09,+0.05,-0.99) r=0.75m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(+0.07,+0.01,-1.00) r=0.75m +[headless_play] t= 1.60s step= 80 trunk_z= 111.8mm grav_b=(+0.06,-0.08,-0.99) r=0.77m +[headless_play] t= 1.70s step= 85 trunk_z= 113.1mm grav_b=(+0.10,-0.05,-0.99) r=0.78m +[headless_play] t= 1.80s step= 90 trunk_z= 113.3mm grav_b=(+0.14,+0.10,-0.99) r=0.79m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(+0.10,-0.06,-0.99) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.09,-0.08,-0.99) r=0.82m +[headless_play] t= 2.10s step= 105 trunk_z= 111.8mm grav_b=(+0.09,+0.08,-0.99) r=0.83m +[headless_play] t= 2.20s step= 110 trunk_z= 114.4mm grav_b=(+0.08,+0.00,-1.00) r=0.84m +[headless_play] t= 2.30s step= 115 trunk_z= 110.7mm grav_b=(+0.07,-0.08,-0.99) r=0.85m +[headless_play] t= 2.40s step= 120 trunk_z= 114.9mm grav_b=(+0.06,-0.03,-1.00) r=0.86m +[headless_play] t= 2.50s step= 125 trunk_z= 110.7mm grav_b=(+0.15,+0.08,-0.99) r=0.87m +[headless_play] t= 2.60s step= 130 trunk_z= 110.3mm grav_b=(+0.14,-0.07,-0.99) r=0.88m +[headless_play] t= 2.70s step= 135 trunk_z= 114.5mm grav_b=(+0.08,-0.05,-1.00) r=0.89m +[headless_play] t= 2.80s step= 140 trunk_z= 113.3mm grav_b=(-0.01,+0.12,-0.99) r=0.90m +[headless_play] t= 2.90s step= 145 trunk_z= 115.0mm grav_b=(+0.09,+0.02,-1.00) r=0.91m +[headless_play] t= 3.00s step= 150 trunk_z= 112.3mm grav_b=(+0.11,-0.10,-0.99) r=0.92m +[headless_play] t= 3.10s step= 155 trunk_z= 112.6mm grav_b=(+0.06,+0.12,-0.99) r=0.93m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(+0.09,+0.01,-1.00) r=0.94m +[headless_play] t= 3.30s step= 165 trunk_z= 111.9mm grav_b=(+0.09,-0.10,-0.99) r=0.95m +[headless_play] t= 3.40s step= 170 trunk_z= 112.3mm grav_b=(+0.11,+0.06,-0.99) r=0.97m +[headless_play] t= 3.50s step= 175 trunk_z= 110.7mm grav_b=(+0.13,-0.05,-0.99) r=0.98m +[headless_play] t= 3.60s step= 180 trunk_z= 111.5mm grav_b=(+0.13,-0.05,-0.99) r=0.99m +[headless_play] t= 3.70s step= 185 trunk_z= 112.4mm grav_b=(+0.07,+0.08,-0.99) r=1.01m +[headless_play] t= 3.80s step= 190 trunk_z= 112.9mm grav_b=(+0.04,-0.06,-1.00) r=1.01m +[headless_play] t= 3.90s step= 195 trunk_z= 113.3mm grav_b=(+0.07,-0.03,-1.00) r=1.03m +[headless_play] t= 4.00s step= 200 trunk_z= 112.1mm grav_b=(+0.12,-0.01,-0.99) r=1.03m +[headless_play] t= 4.10s step= 205 trunk_z= 109.6mm grav_b=(+0.13,-0.10,-0.99) r=1.03m +[headless_play] t= 4.20s step= 210 trunk_z= 117.5mm grav_b=(+0.05,+0.02,-1.00) r=1.03m +[headless_play] t= 4.30s step= 215 trunk_z= 119.6mm grav_b=(+0.10,+0.04,-0.99) r=1.01m +[headless_play] t= 4.40s step= 220 trunk_z= 115.2mm grav_b=(+0.08,-0.14,-0.99) r=1.00m +[headless_play] t= 4.50s step= 225 trunk_z= 124.8mm grav_b=(+0.07,-0.08,-0.99) r=0.99m +[headless_play] t= 4.60s step= 230 trunk_z= 113.1mm grav_b=(+0.02,+0.05,-1.00) r=0.97m +[headless_play] t= 4.70s step= 235 trunk_z= 121.2mm grav_b=(-0.03,-0.06,-1.00) r=0.97m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.06,-0.14,-0.99) r=0.96m +[headless_play] t= 4.90s step= 245 trunk_z= 113.6mm grav_b=(+0.15,+0.05,-0.99) r=0.96m +[headless_play] t= 5.00s step= 250 trunk_z= 124.9mm grav_b=(+0.03,+0.06,-1.00) r=0.95m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(+0.02,-0.09,-1.00) r=0.95m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(+0.13,-0.02,-0.99) r=0.95m +[headless_play] t= 5.30s step= 265 trunk_z= 115.2mm grav_b=(+0.12,+0.10,-0.99) r=0.95m +[headless_play] t= 5.40s step= 270 trunk_z= 118.1mm grav_b=(+0.00,-0.08,-1.00) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 120.8mm grav_b=(+0.11,-0.12,-0.99) r=0.96m +[headless_play] t= 5.60s step= 280 trunk_z= 112.5mm grav_b=(+0.07,+0.07,-0.99) r=0.96m +[headless_play] t= 5.70s step= 285 trunk_z= 118.7mm grav_b=(-0.03,-0.03,-1.00) r=0.96m +[headless_play] t= 5.80s step= 290 trunk_z= 118.2mm grav_b=(+0.05,-0.11,-0.99) r=0.96m +[headless_play] t= 5.90s step= 295 trunk_z= 111.0mm grav_b=(+0.13,+0.09,-0.99) r=0.97m +[headless_play] t= 6.00s step= 300 trunk_z= 120.0mm grav_b=(+0.04,-0.01,-1.00) r=0.97m +[headless_play] t= 6.10s step= 305 trunk_z= 120.2mm grav_b=(+0.07,-0.14,-0.99) r=0.98m +[headless_play] t= 6.20s step= 310 trunk_z= 115.8mm grav_b=(+0.12,+0.03,-0.99) r=0.98m +[headless_play] t= 6.30s step= 315 trunk_z= 119.6mm grav_b=(+0.02,+0.01,-1.00) r=0.98m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(+0.05,-0.12,-0.99) r=0.99m +[headless_play] t= 6.50s step= 325 trunk_z= 114.6mm grav_b=(+0.11,+0.10,-0.99) r=1.00m +[headless_play] t= 6.60s step= 330 trunk_z= 121.5mm grav_b=(+0.05,+0.04,-1.00) r=1.01m +[headless_play] t= 6.70s step= 335 trunk_z= 118.7mm grav_b=(+0.06,-0.13,-0.99) r=1.02m +[headless_play] t= 6.80s step= 340 trunk_z= 119.3mm grav_b=(+0.09,-0.07,-0.99) r=1.02m +[headless_play] t= 6.90s step= 345 trunk_z= 117.7mm grav_b=(+0.05,+0.04,-1.00) r=1.03m +[headless_play] t= 7.00s step= 350 trunk_z= 116.0mm grav_b=(+0.02,-0.09,-1.00) r=1.05m +[headless_play] t= 7.10s step= 355 trunk_z= 114.0mm grav_b=(+0.10,-0.06,-0.99) r=1.06m +[headless_play] t= 7.20s step= 360 trunk_z= 112.5mm grav_b=(+0.14,+0.05,-0.99) r=1.06m +[headless_play] t= 7.30s step= 365 trunk_z= 113.5mm grav_b=(+0.10,-0.03,-0.99) r=1.07m +[headless_play] t= 7.40s step= 370 trunk_z= 113.5mm grav_b=(+0.09,-0.09,-0.99) r=1.09m +[headless_play] t= 7.50s step= 375 trunk_z= 109.8mm grav_b=(+0.11,+0.06,-0.99) r=1.10m +[headless_play] t= 7.60s step= 380 trunk_z= 115.1mm grav_b=(+0.11,+0.01,-0.99) r=1.11m +[headless_play] t= 7.70s step= 385 trunk_z= 112.3mm grav_b=(+0.05,-0.11,-0.99) r=1.12m +[headless_play] t= 7.80s step= 390 trunk_z= 114.1mm grav_b=(+0.10,-0.06,-0.99) r=1.13m +[headless_play] t= 7.90s step= 395 trunk_z= 112.6mm grav_b=(+0.15,+0.05,-0.99) r=1.14m +[headless_play] t= 8.00s step= 400 trunk_z= 114.6mm grav_b=(+0.09,-0.02,-1.00) r=1.14m +[headless_play] t= 8.10s step= 405 trunk_z= 115.9mm grav_b=(+0.06,-0.12,-0.99) r=1.15m +[headless_play] t= 8.20s step= 410 trunk_z= 111.0mm grav_b=(+0.13,-0.04,-0.99) r=1.16m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(+0.14,+0.06,-0.99) r=1.16m +[headless_play] t= 8.40s step= 420 trunk_z= 115.0mm grav_b=(+0.06,-0.04,-1.00) r=1.17m +[headless_play] t= 8.50s step= 425 trunk_z= 118.0mm grav_b=(+0.05,-0.12,-0.99) r=1.18m +[headless_play] t= 8.60s step= 430 trunk_z= 111.7mm grav_b=(+0.12,-0.02,-0.99) r=1.19m +[headless_play] t= 8.70s step= 435 trunk_z= 115.3mm grav_b=(+0.13,+0.03,-0.99) r=1.19m +[headless_play] t= 8.80s step= 440 trunk_z= 113.9mm grav_b=(+0.06,-0.09,-0.99) r=1.19m +[headless_play] t= 8.90s step= 445 trunk_z= 118.4mm grav_b=(+0.07,-0.13,-0.99) r=1.21m +[headless_play] t= 9.00s step= 450 trunk_z= 109.5mm grav_b=(+0.16,+0.01,-0.99) r=1.21m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(+0.12,+0.05,-0.99) r=1.21m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(+0.03,-0.08,-1.00) r=1.22m +[headless_play] t= 9.30s step= 465 trunk_z= 119.3mm grav_b=(+0.03,-0.07,-1.00) r=1.23m +[headless_play] t= 9.40s step= 470 trunk_z= 109.0mm grav_b=(+0.07,+0.07,-0.99) r=1.23m +[headless_play] t= 9.50s step= 475 trunk_z= 110.5mm grav_b=(+0.15,+0.02,-0.99) r=1.23m +[headless_play] t= 9.60s step= 480 trunk_z= 112.2mm grav_b=(+0.16,-0.12,-0.98) r=1.23m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(+0.08,-0.04,-1.00) r=1.23m +[headless_play] t= 9.80s step= 490 trunk_z= 118.2mm grav_b=(+0.05,+0.03,-1.00) r=1.23m +[headless_play] t= 9.90s step= 495 trunk_z= 115.5mm grav_b=(+0.04,-0.08,-1.00) r=1.23m +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.09,-0.06,-0.99) r=1.24m +[headless_play] t= 10.10s step= 505 trunk_z= 114.4mm grav_b=(+0.08,+0.07,-0.99) r=1.24m +[headless_play] t= 10.20s step= 510 trunk_z= 114.7mm grav_b=(+0.04,-0.06,-1.00) r=1.24m +[headless_play] t= 10.30s step= 515 trunk_z= 117.7mm grav_b=(+0.06,-0.12,-0.99) r=1.25m +[headless_play] t= 10.40s step= 520 trunk_z= 108.9mm grav_b=(+0.12,+0.04,-0.99) r=1.25m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(+0.10,+0.02,-0.99) r=1.24m +[headless_play] t= 10.60s step= 530 trunk_z= 116.3mm grav_b=(+0.03,-0.13,-0.99) r=1.24m +[headless_play] t= 10.70s step= 535 trunk_z= 114.3mm grav_b=(+0.11,-0.04,-0.99) r=1.23m +[headless_play] t= 10.80s step= 540 trunk_z= 115.0mm grav_b=(+0.14,+0.06,-0.99) r=1.22m +[headless_play] t= 10.90s step= 545 trunk_z= 115.8mm grav_b=(+0.05,-0.06,-1.00) r=1.21m +[headless_play] t= 11.00s step= 550 trunk_z= 119.1mm grav_b=(+0.05,-0.11,-0.99) r=1.21m +[headless_play] t= 11.10s step= 555 trunk_z= 108.9mm grav_b=(+0.12,+0.04,-0.99) r=1.20m +[headless_play] t= 11.20s step= 560 trunk_z= 115.2mm grav_b=(+0.10,-0.00,-1.00) r=1.19m +[headless_play] t= 11.30s step= 565 trunk_z= 112.5mm grav_b=(+0.04,-0.11,-0.99) r=1.18m +[headless_play] t= 11.40s step= 570 trunk_z= 114.8mm grav_b=(+0.11,-0.05,-0.99) r=1.18m +[headless_play] t= 11.50s step= 575 trunk_z= 112.3mm grav_b=(+0.12,+0.06,-0.99) r=1.17m +[headless_play] t= 11.60s step= 580 trunk_z= 114.5mm grav_b=(+0.06,-0.05,-1.00) r=1.16m +[headless_play] t= 11.70s step= 585 trunk_z= 118.1mm grav_b=(+0.08,-0.11,-0.99) r=1.15m +[headless_play] t= 11.80s step= 590 trunk_z= 113.4mm grav_b=(+0.11,+0.01,-0.99) r=1.14m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(+0.05,+0.02,-1.00) r=1.11m +[headless_play] t= 12.00s step= 600 trunk_z= 113.3mm grav_b=(+0.07,-0.07,-1.00) r=1.10m +[headless_play] t= 12.10s step= 605 trunk_z= 114.7mm grav_b=(+0.11,-0.09,-0.99) r=1.09m +[headless_play] t= 12.20s step= 610 trunk_z= 114.2mm grav_b=(+0.10,+0.01,-1.00) r=1.07m +[headless_play] t= 12.30s step= 615 trunk_z= 116.5mm grav_b=(+0.09,+0.04,-1.00) r=1.06m +[headless_play] t= 12.40s step= 620 trunk_z= 112.9mm grav_b=(+0.07,-0.11,-0.99) r=1.04m +[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(+0.08,-0.02,-1.00) r=1.03m +[headless_play] t= 12.60s step= 630 trunk_z= 116.5mm grav_b=(+0.05,+0.06,-1.00) r=1.01m +[headless_play] t= 12.70s step= 635 trunk_z= 112.1mm grav_b=(+0.05,-0.08,-1.00) r=0.99m +[headless_play] t= 12.80s step= 640 trunk_z= 113.7mm grav_b=(+0.10,-0.03,-0.99) r=0.98m +[headless_play] t= 12.90s step= 645 trunk_z= 113.5mm grav_b=(+0.08,+0.04,-1.00) r=0.96m +[headless_play] t= 13.00s step= 650 trunk_z= 112.5mm grav_b=(+0.04,-0.10,-0.99) r=0.95m +[headless_play] t= 13.10s step= 655 trunk_z= 114.4mm grav_b=(+0.11,-0.05,-0.99) r=0.93m +[headless_play] t= 13.20s step= 660 trunk_z= 114.4mm grav_b=(+0.10,+0.07,-0.99) r=0.92m +[headless_play] t= 13.30s step= 665 trunk_z= 115.2mm grav_b=(+0.07,-0.01,-1.00) r=0.91m +[headless_play] t= 13.40s step= 670 trunk_z= 115.3mm grav_b=(+0.05,-0.10,-0.99) r=0.90m +[headless_play] t= 13.50s step= 675 trunk_z= 114.2mm grav_b=(+0.13,-0.03,-0.99) r=0.89m +[headless_play] t= 13.60s step= 680 trunk_z= 116.1mm grav_b=(+0.13,+0.05,-0.99) r=0.89m +[headless_play] t= 13.70s step= 685 trunk_z= 115.0mm grav_b=(+0.08,-0.08,-0.99) r=0.89m +[headless_play] t= 13.80s step= 690 trunk_z= 118.2mm grav_b=(+0.12,+0.01,-0.99) r=0.87m +[headless_play] t= 13.90s step= 695 trunk_z= 121.7mm grav_b=(+0.07,+0.06,-1.00) r=0.87m +[headless_play] t= 14.00s step= 700 trunk_z= 121.7mm grav_b=(+0.07,-0.09,-0.99) r=0.86m +[headless_play] t= 14.10s step= 705 trunk_z= 123.4mm grav_b=(+0.04,-0.03,-1.00) r=0.86m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(-0.03,+0.09,-1.00) r=0.87m +[headless_play] t= 14.30s step= 715 trunk_z= 121.2mm grav_b=(+0.03,-0.00,-1.00) r=0.87m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(+0.12,-0.08,-0.99) r=0.87m +[headless_play] t= 14.50s step= 725 trunk_z= 116.7mm grav_b=(+0.17,+0.03,-0.99) r=0.88m +[headless_play] t= 14.60s step= 730 trunk_z= 113.8mm grav_b=(+0.22,-0.06,-0.97) r=0.88m +[headless_play] t= 14.70s step= 735 trunk_z= 119.3mm grav_b=(+0.07,+0.07,-0.99) r=0.89m +[headless_play] t= 14.80s step= 740 trunk_z= 119.4mm grav_b=(-0.04,+0.07,-1.00) r=0.89m +[headless_play] t= 14.90s step= 745 trunk_z= 115.4mm grav_b=(-0.10,-0.09,-0.99) r=0.89m +[headless_play] t= 15.00s step= 750 trunk_z= 118.8mm grav_b=(+0.05,-0.11,-0.99) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 112.7mm grav_b=(+0.21,+0.02,-0.98) r=0.89m +[headless_play] t= 15.20s step= 760 trunk_z= 116.0mm grav_b=(+0.17,+0.06,-0.98) r=0.89m +[headless_play] t= 15.30s step= 765 trunk_z= 113.6mm grav_b=(+0.09,-0.09,-0.99) r=0.89m +[headless_play] t= 15.40s step= 770 trunk_z= 114.7mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 15.50s step= 775 trunk_z= 116.7mm grav_b=(+0.07,+0.03,-1.00) r=0.88m +[headless_play] t= 15.60s step= 780 trunk_z= 111.1mm grav_b=(+0.10,-0.09,-0.99) r=0.87m +[headless_play] t= 15.70s step= 785 trunk_z= 110.9mm grav_b=(+0.15,+0.00,-0.99) r=0.86m +[headless_play] t= 15.80s step= 790 trunk_z= 113.2mm grav_b=(+0.09,+0.09,-0.99) r=0.85m +[headless_play] t= 15.90s step= 795 trunk_z= 111.7mm grav_b=(+0.08,-0.09,-0.99) r=0.85m +[headless_play] t= 16.00s step= 800 trunk_z= 110.7mm grav_b=(+0.13,+0.00,-0.99) r=0.84m +[headless_play] t= 16.10s step= 805 trunk_z= 112.5mm grav_b=(+0.10,+0.08,-0.99) r=0.84m +[headless_play] t= 16.20s step= 810 trunk_z= 110.9mm grav_b=(+0.09,-0.11,-0.99) r=0.84m +[headless_play] t= 16.30s step= 815 trunk_z= 112.5mm grav_b=(+0.10,+0.02,-0.99) r=0.83m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(+0.07,+0.09,-0.99) r=0.84m +[headless_play] t= 16.50s step= 825 trunk_z= 112.0mm grav_b=(+0.12,-0.04,-0.99) r=0.83m +[headless_play] t= 16.60s step= 830 trunk_z= 111.9mm grav_b=(+0.10,+0.01,-1.00) r=0.82m +[headless_play] t= 16.70s step= 835 trunk_z= 111.4mm grav_b=(+0.09,+0.08,-0.99) r=0.82m +[headless_play] t= 16.80s step= 840 trunk_z= 110.1mm grav_b=(+0.10,-0.10,-0.99) r=0.82m +[headless_play] t= 16.90s step= 845 trunk_z= 112.7mm grav_b=(+0.09,+0.00,-1.00) r=0.82m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(+0.05,+0.07,-1.00) r=0.81m +[headless_play] t= 17.10s step= 855 trunk_z= 111.7mm grav_b=(+0.11,-0.07,-0.99) r=0.81m +[headless_play] t= 17.20s step= 860 trunk_z= 110.6mm grav_b=(+0.14,-0.00,-0.99) r=0.80m +[headless_play] t= 17.30s step= 865 trunk_z= 113.2mm grav_b=(+0.06,+0.12,-0.99) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 113.4mm grav_b=(+0.11,-0.03,-0.99) r=0.80m +[headless_play] t= 17.50s step= 875 trunk_z= 112.9mm grav_b=(+0.11,-0.06,-0.99) r=0.79m +[headless_play] t= 17.60s step= 880 trunk_z= 111.8mm grav_b=(+0.07,+0.09,-0.99) r=0.80m +[headless_play] t= 17.70s step= 885 trunk_z= 114.8mm grav_b=(+0.10,+0.01,-1.00) r=0.80m +[headless_play] t= 17.80s step= 890 trunk_z= 111.0mm grav_b=(+0.12,-0.09,-0.99) r=0.79m +[headless_play] t= 17.90s step= 895 trunk_z= 111.6mm grav_b=(+0.07,+0.09,-0.99) r=0.79m +[headless_play] t= 18.00s step= 900 trunk_z= 118.4mm grav_b=(+0.05,+0.07,-1.00) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 112.4mm grav_b=(+0.06,-0.05,-1.00) r=0.80m +[headless_play] t= 18.20s step= 910 trunk_z= 113.8mm grav_b=(+0.08,+0.01,-1.00) r=0.80m +[headless_play] t= 18.30s step= 915 trunk_z= 110.6mm grav_b=(+0.11,+0.10,-0.99) r=0.81m +[headless_play] t= 18.40s step= 920 trunk_z= 111.6mm grav_b=(+0.08,-0.07,-0.99) r=0.81m +[headless_play] t= 18.50s step= 925 trunk_z= 112.7mm grav_b=(+0.08,+0.02,-1.00) r=0.81m +[headless_play] t= 18.60s step= 930 trunk_z= 115.0mm grav_b=(+0.11,+0.04,-0.99) r=0.82m +[headless_play] t= 18.70s step= 935 trunk_z= 111.5mm grav_b=(+0.10,-0.06,-0.99) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 113.3mm grav_b=(+0.08,-0.03,-1.00) r=0.81m +[headless_play] t= 18.90s step= 945 trunk_z= 112.0mm grav_b=(+0.07,+0.08,-0.99) r=0.82m +[headless_play] t= 19.00s step= 950 trunk_z= 113.5mm grav_b=(+0.07,-0.06,-1.00) r=0.82m +[headless_play] t= 19.10s step= 955 trunk_z= 114.9mm grav_b=(+0.04,-0.03,-1.00) r=0.82m +[headless_play] t= 19.20s step= 960 trunk_z= 118.2mm grav_b=(-0.04,+0.04,-1.00) r=0.84m +[headless_play] t= 19.30s step= 965 trunk_z= 117.9mm grav_b=(+0.01,-0.07,-1.00) r=0.85m +[headless_play] t= 19.40s step= 970 trunk_z= 108.8mm grav_b=(+0.14,-0.08,-0.99) r=0.86m +[headless_play] t= 19.50s step= 975 trunk_z= 106.7mm grav_b=(+0.18,+0.09,-0.98) r=0.87m +[headless_play] t= 19.60s step= 980 trunk_z= 120.0mm grav_b=(+0.06,-0.05,-1.00) r=0.87m +[headless_play] t= 19.70s step= 985 trunk_z= 124.4mm grav_b=(+0.07,-0.10,-0.99) r=0.88m +[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(-0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 19.90s step= 995 trunk_z= 122.6mm grav_b=(+0.04,+0.06,-1.00) r=0.91m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.40m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.04,-0.02,-1.00) r=0.39m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..e6458836d047f99e9c890ee22aa7e354fec43daa --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.7mm grav_b=(+0.00,-0.00,-1.00) root_w=(-5.593,-17.934,+0.205) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 119.3mm grav_b=(+0.00,+0.02,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 119.5mm grav_b=(-0.01,+0.08,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 119.2mm grav_b=(-0.04,-0.03,-1.00) r=0.42m +[headless_play] t= 0.50s step= 25 trunk_z= 120.2mm grav_b=(-0.06,+0.02,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(-0.05,+0.07,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 118.9mm grav_b=(-0.06,-0.06,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 118.6mm grav_b=(-0.08,+0.10,-0.99) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 125.5mm grav_b=(-0.05,+0.07,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 119.9mm grav_b=(-0.04,-0.12,-0.99) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 121.8mm grav_b=(-0.06,-0.03,-1.00) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 121.5mm grav_b=(-0.06,+0.11,-0.99) r=0.48m +[headless_play] t= 1.30s step= 65 trunk_z= 119.8mm grav_b=(-0.07,-0.02,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 123.3mm grav_b=(-0.03,-0.08,-1.00) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 116.0mm grav_b=(-0.06,+0.08,-0.99) r=0.51m +[headless_play] t= 1.60s step= 80 trunk_z= 122.9mm grav_b=(-0.06,+0.05,-1.00) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(-0.03,-0.14,-0.99) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 123.7mm grav_b=(-0.06,-0.05,-1.00) r=0.54m +[headless_play] t= 1.90s step= 95 trunk_z= 121.0mm grav_b=(-0.05,+0.12,-0.99) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 121.0mm grav_b=(-0.07,+0.02,-1.00) r=0.56m +[headless_play] t= 2.10s step= 105 trunk_z= 122.9mm grav_b=(-0.06,-0.08,-1.00) r=0.57m +[headless_play] t= 2.20s step= 110 trunk_z= 120.6mm grav_b=(-0.06,+0.05,-1.00) r=0.59m +[headless_play] t= 2.30s step= 115 trunk_z= 127.8mm grav_b=(-0.02,+0.10,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(-0.04,-0.07,-1.00) r=0.62m +[headless_play] t= 2.50s step= 125 trunk_z= 120.7mm grav_b=(-0.05,-0.03,-1.00) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 120.3mm grav_b=(-0.08,+0.12,-0.99) r=0.64m +[headless_play] t= 2.70s step= 135 trunk_z= 126.1mm grav_b=(-0.06,+0.08,-1.00) r=0.66m +[headless_play] t= 2.80s step= 140 trunk_z= 119.6mm grav_b=(-0.04,-0.08,-1.00) r=0.67m +[headless_play] t= 2.90s step= 145 trunk_z= 122.0mm grav_b=(-0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 3.00s step= 150 trunk_z= 127.0mm grav_b=(-0.04,+0.10,-0.99) r=0.70m +[headless_play] t= 3.10s step= 155 trunk_z= 119.1mm grav_b=(-0.05,-0.05,-1.00) r=0.72m +[headless_play] t= 3.20s step= 160 trunk_z= 120.8mm grav_b=(-0.06,-0.05,-1.00) r=0.73m +[headless_play] t= 3.30s step= 165 trunk_z= 119.1mm grav_b=(-0.09,+0.09,-0.99) r=0.74m +[headless_play] t= 3.40s step= 170 trunk_z= 127.1mm grav_b=(-0.06,+0.09,-0.99) r=0.75m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(-0.06,-0.09,-0.99) r=0.77m +[headless_play] t= 3.60s step= 180 trunk_z= 121.9mm grav_b=(-0.05,-0.04,-1.00) r=0.79m +[headless_play] t= 3.70s step= 185 trunk_z= 120.5mm grav_b=(-0.06,+0.10,-0.99) r=0.80m +[headless_play] t= 3.80s step= 190 trunk_z= 124.0mm grav_b=(-0.04,+0.01,-1.00) r=0.82m +[headless_play] t= 3.90s step= 195 trunk_z= 120.8mm grav_b=(-0.03,-0.13,-0.99) r=0.83m +[headless_play] t= 4.00s step= 200 trunk_z= 121.4mm grav_b=(-0.08,-0.02,-1.00) r=0.84m +[headless_play] t= 4.10s step= 205 trunk_z= 123.8mm grav_b=(-0.07,+0.09,-0.99) r=0.85m +[headless_play] t= 4.20s step= 210 trunk_z= 119.2mm grav_b=(-0.06,-0.06,-1.00) r=0.87m +[headless_play] t= 4.30s step= 215 trunk_z= 122.5mm grav_b=(-0.04,-0.06,-1.00) r=0.88m +[headless_play] t= 4.40s step= 220 trunk_z= 117.6mm grav_b=(-0.07,+0.11,-0.99) r=0.89m +[headless_play] t= 4.50s step= 225 trunk_z= 127.3mm grav_b=(-0.07,+0.10,-0.99) r=0.91m +[headless_play] t= 4.60s step= 230 trunk_z= 117.3mm grav_b=(-0.06,-0.07,-1.00) r=0.93m +[headless_play] t= 4.70s step= 235 trunk_z= 122.3mm grav_b=(-0.04,-0.02,-1.00) r=0.94m +[headless_play] t= 4.80s step= 240 trunk_z= 122.3mm grav_b=(-0.04,+0.11,-0.99) r=0.96m +[headless_play] t= 4.90s step= 245 trunk_z= 123.1mm grav_b=(-0.03,+0.03,-1.00) r=0.97m +[headless_play] t= 5.00s step= 250 trunk_z= 120.0mm grav_b=(-0.04,-0.07,-1.00) r=0.98m +[headless_play] t= 5.10s step= 255 trunk_z= 116.8mm grav_b=(-0.08,+0.08,-0.99) r=1.00m +[headless_play] t= 5.20s step= 260 trunk_z= 125.2mm grav_b=(-0.05,+0.09,-0.99) r=1.02m +[headless_play] t= 5.30s step= 265 trunk_z= 115.6mm grav_b=(-0.02,-0.10,-0.99) r=1.04m +[headless_play] t= 5.40s step= 270 trunk_z= 120.2mm grav_b=(-0.06,+0.00,-1.00) r=1.05m +[headless_play] t= 5.50s step= 275 trunk_z= 123.9mm grav_b=(-0.04,+0.13,-0.99) r=1.06m +[headless_play] t= 5.60s step= 280 trunk_z= 124.7mm grav_b=(-0.04,+0.04,-1.00) r=1.08m +[headless_play] t= 5.70s step= 285 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=1.10m +[headless_play] t= 5.80s step= 290 trunk_z= 119.7mm grav_b=(+0.01,+0.12,-0.99) r=1.13m +[headless_play] t= 5.90s step= 295 trunk_z= 131.6mm grav_b=(+0.02,+0.02,-1.00) r=1.15m +[headless_play] t= 6.00s step= 300 trunk_z= 110.3mm grav_b=(-0.07,-0.11,-0.99) r=1.19m +[headless_play] t= 6.10s step= 305 trunk_z= 118.3mm grav_b=(-0.21,+0.01,-0.98) r=1.21m +[headless_play] t= 6.20s step= 310 trunk_z= 121.3mm grav_b=(-0.07,+0.08,-0.99) r=1.23m +[headless_play] t= 6.30s step= 315 trunk_z= 120.3mm grav_b=(-0.04,-0.01,-1.00) r=1.25m +[headless_play] t= 6.40s step= 320 trunk_z= 94.7mm grav_b=(-0.00,-0.12,-0.99) r=1.29m +[headless_play] t= 6.50s step= 325 trunk_z= 102.8mm grav_b=(-0.08,+0.02,-1.00) r=1.32m +[headless_play] t= 6.60s step= 330 trunk_z= 91.2mm grav_b=(-0.19,+0.14,-0.97) r=1.36m +[headless_play] t= 6.70s step= 335 trunk_z= 98.5mm grav_b=(-0.08,+0.07,-0.99) r=1.38m +[headless_play] t= 6.80s step= 340 trunk_z= 92.8mm grav_b=(-0.06,-0.12,-0.99) r=1.40m +[headless_play] t= 6.90s step= 345 trunk_z= 97.6mm grav_b=(-0.08,-0.01,-1.00) r=1.41m +[headless_play] t= 7.00s step= 350 trunk_z= 98.6mm grav_b=(-0.01,+0.14,-0.99) r=1.43m +[headless_play] t= 7.10s step= 355 trunk_z= 104.4mm grav_b=(-0.00,+0.06,-1.00) r=1.44m +[headless_play] t= 7.20s step= 360 trunk_z= 92.5mm grav_b=(-0.04,-0.08,-1.00) r=1.46m +[headless_play] t= 7.30s step= 365 trunk_z= 93.2mm grav_b=(-0.10,+0.08,-0.99) r=1.48m +[headless_play] t= 7.40s step= 370 trunk_z= 92.8mm grav_b=(-0.10,+0.08,-0.99) r=1.50m +[headless_play] t= 7.50s step= 375 trunk_z= 83.8mm grav_b=(+0.02,+0.11,-0.99) r=1.52m +[headless_play] t= 7.60s step= 380 trunk_z= 81.7mm grav_b=(+0.05,+0.14,-0.99) r=1.55m +[headless_play] t= 7.70s step= 385 trunk_z= 76.9mm grav_b=(-0.04,+0.14,-0.99) r=1.59m +[headless_play] t= 7.80s step= 390 trunk_z= 49.8mm grav_b=(-0.21,+0.29,-0.93) r=1.65m +[headless_play] t= 7.90s step= 395 trunk_z= 40.7mm grav_b=(-0.41,+0.27,-0.87) r=1.71m +[headless_play] t= 8.00s step= 400 trunk_z= 30.6mm grav_b=(-0.41,+0.41,-0.81) r=1.77m +[headless_play] t= 8.10s step= 405 trunk_z= -15.3mm grav_b=(-0.20,+0.91,-0.35) r=1.79m +[headless_play] RESET at t= 8.12s step= 406 (env termination, not a recovery) +[headless_play] t= 8.20s step= 410 trunk_z= 116.2mm grav_b=(-0.00,+0.00,-1.00) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(+0.02,-0.00,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 118.5mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 119.5mm grav_b=(+0.00,+0.04,-1.00) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 119.5mm grav_b=(+0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 8.70s step= 435 trunk_z= 119.1mm grav_b=(-0.02,+0.08,-1.00) r=0.35m +[headless_play] t= 8.80s step= 440 trunk_z= 119.2mm grav_b=(-0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 8.90s step= 445 trunk_z= 119.5mm grav_b=(-0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 119.2mm grav_b=(-0.05,+0.10,-0.99) r=0.30m +[headless_play] t= 9.10s step= 455 trunk_z= 125.3mm grav_b=(+0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 9.20s step= 460 trunk_z= 116.6mm grav_b=(+0.07,-0.09,-0.99) r=0.28m +[headless_play] t= 9.30s step= 465 trunk_z= 124.2mm grav_b=(+0.06,+0.00,-1.00) r=0.28m +[headless_play] t= 9.40s step= 470 trunk_z= 110.3mm grav_b=(-0.03,+0.07,-1.00) r=0.28m +[headless_play] t= 9.50s step= 475 trunk_z= 113.6mm grav_b=(-0.04,-0.09,-1.00) r=0.29m +[headless_play] t= 9.60s step= 480 trunk_z= 123.5mm grav_b=(+0.03,-0.00,-1.00) r=0.29m +[headless_play] t= 9.70s step= 485 trunk_z= 112.2mm grav_b=(+0.00,+0.08,-1.00) r=0.30m +[headless_play] t= 9.80s step= 490 trunk_z= 124.4mm grav_b=(-0.10,-0.01,-1.00) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(-0.04,-0.07,-1.00) r=0.33m +[headless_play] t= 10.00s step= 500 trunk_z= 120.6mm grav_b=(-0.01,+0.03,-1.00) r=0.34m +[headless_play] t= 10.10s step= 505 trunk_z= 120.2mm grav_b=(+0.04,+0.10,-0.99) r=0.34m +[headless_play] t= 10.20s step= 510 trunk_z= 118.1mm grav_b=(+0.05,-0.13,-0.99) r=0.34m +[headless_play] t= 10.30s step= 515 trunk_z= 124.7mm grav_b=(+0.04,-0.09,-0.99) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 123.3mm grav_b=(-0.03,+0.03,-1.00) r=0.34m +[headless_play] t= 10.50s step= 525 trunk_z= 123.3mm grav_b=(-0.13,+0.12,-0.98) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(-0.12,-0.00,-0.99) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 111.9mm grav_b=(+0.04,+0.02,-1.00) r=0.37m +[headless_play] t= 10.80s step= 540 trunk_z= 110.6mm grav_b=(+0.24,+0.12,-0.96) r=0.37m +[headless_play] t= 10.90s step= 545 trunk_z= 113.9mm grav_b=(+0.19,-0.06,-0.98) r=0.37m +[headless_play] t= 11.00s step= 550 trunk_z= 118.0mm grav_b=(+0.10,-0.09,-0.99) r=0.38m +[headless_play] t= 11.10s step= 555 trunk_z= 120.1mm grav_b=(-0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 111.4mm grav_b=(-0.14,+0.09,-0.99) r=0.43m +[headless_play] t= 11.30s step= 565 trunk_z= 113.4mm grav_b=(-0.12,-0.07,-0.99) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 118.2mm grav_b=(-0.02,+0.04,-1.00) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 113.2mm grav_b=(+0.01,-0.08,-1.00) r=0.50m +[headless_play] t= 11.70s step= 585 trunk_z= 112.0mm grav_b=(-0.00,+0.07,-1.00) r=0.51m +[headless_play] t= 11.80s step= 590 trunk_z= 111.5mm grav_b=(-0.00,-0.07,-1.00) r=0.52m +[headless_play] t= 11.90s step= 595 trunk_z= 110.1mm grav_b=(+0.02,+0.04,-1.00) r=0.53m +[headless_play] t= 12.00s step= 600 trunk_z= 112.5mm grav_b=(+0.02,+0.03,-1.00) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 109.8mm grav_b=(+0.03,-0.10,-0.99) r=0.56m +[headless_play] t= 12.20s step= 610 trunk_z= 110.1mm grav_b=(+0.01,+0.09,-1.00) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 111.9mm grav_b=(+0.02,-0.03,-1.00) r=0.59m +[headless_play] t= 12.40s step= 620 trunk_z= 111.9mm grav_b=(+0.05,-0.01,-1.00) r=0.60m +[headless_play] t= 12.50s step= 625 trunk_z= 112.7mm grav_b=(+0.04,+0.06,-1.00) r=0.62m +[headless_play] t= 12.60s step= 630 trunk_z= 111.7mm grav_b=(+0.04,-0.08,-1.00) r=0.63m +[headless_play] t= 12.70s step= 635 trunk_z= 109.4mm grav_b=(+0.01,+0.10,-0.99) r=0.65m +[headless_play] t= 12.80s step= 640 trunk_z= 111.9mm grav_b=(+0.00,-0.07,-1.00) r=0.66m +[headless_play] t= 12.90s step= 645 trunk_z= 112.2mm grav_b=(+0.03,-0.03,-1.00) r=0.68m +[headless_play] t= 13.00s step= 650 trunk_z= 113.0mm grav_b=(+0.01,+0.04,-1.00) r=0.69m +[headless_play] t= 13.10s step= 655 trunk_z= 111.7mm grav_b=(+0.00,-0.08,-1.00) r=0.71m +[headless_play] t= 13.20s step= 660 trunk_z= 113.7mm grav_b=(+0.02,-0.08,-1.00) r=0.72m +[headless_play] t= 13.30s step= 665 trunk_z= 111.4mm grav_b=(+0.02,+0.12,-0.99) r=0.74m +[headless_play] t= 13.40s step= 670 trunk_z= 110.3mm grav_b=(+0.05,-0.10,-0.99) r=0.76m +[headless_play] t= 13.50s step= 675 trunk_z= 114.0mm grav_b=(+0.04,-0.11,-0.99) r=0.77m +[headless_play] t= 13.60s step= 680 trunk_z= 112.6mm grav_b=(-0.05,+0.09,-0.99) r=0.77m +[headless_play] t= 13.70s step= 685 trunk_z= 111.6mm grav_b=(-0.02,-0.13,-0.99) r=0.78m +[headless_play] t= 13.80s step= 690 trunk_z= 114.2mm grav_b=(+0.02,+0.04,-1.00) r=0.78m +[headless_play] t= 13.90s step= 695 trunk_z= 111.6mm grav_b=(+0.03,-0.00,-1.00) r=0.80m +[headless_play] t= 14.00s step= 700 trunk_z= 111.9mm grav_b=(+0.04,-0.11,-0.99) r=0.81m +[headless_play] t= 14.10s step= 705 trunk_z= 110.2mm grav_b=(-0.01,+0.12,-0.99) r=0.83m +[headless_play] t= 14.20s step= 710 trunk_z= 113.6mm grav_b=(+0.05,-0.05,-1.00) r=0.85m +[headless_play] t= 14.30s step= 715 trunk_z= 115.7mm grav_b=(+0.02,-0.16,-0.99) r=0.86m +[headless_play] t= 14.40s step= 720 trunk_z= 112.3mm grav_b=(-0.05,+0.05,-1.00) r=0.88m +[headless_play] t= 14.50s step= 725 trunk_z= 116.4mm grav_b=(-0.03,+0.02,-1.00) r=0.90m +[headless_play] t= 14.60s step= 730 trunk_z= 112.1mm grav_b=(+0.00,-0.09,-1.00) r=0.91m +[headless_play] t= 14.70s step= 735 trunk_z= 109.7mm grav_b=(+0.02,+0.05,-1.00) r=0.93m +[headless_play] t= 14.80s step= 740 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 14.90s step= 745 trunk_z= 112.3mm grav_b=(+0.03,-0.10,-0.99) r=0.97m +[headless_play] t= 15.00s step= 750 trunk_z= 111.1mm grav_b=(-0.01,+0.10,-0.99) r=0.99m +[headless_play] t= 15.10s step= 755 trunk_z= 112.7mm grav_b=(+0.03,-0.03,-1.00) r=1.01m +[headless_play] t= 15.20s step= 760 trunk_z= 112.2mm grav_b=(+0.04,-0.01,-1.00) r=1.03m +[headless_play] t= 15.30s step= 765 trunk_z= 115.2mm grav_b=(+0.06,+0.06,-1.00) r=1.04m +[headless_play] t= 15.40s step= 770 trunk_z= 119.3mm grav_b=(+0.00,-0.08,-1.00) r=1.06m +[headless_play] t= 15.50s step= 775 trunk_z= 117.3mm grav_b=(-0.05,+0.06,-1.00) r=1.08m +[headless_play] t= 15.60s step= 780 trunk_z= 120.5mm grav_b=(-0.03,+0.04,-1.00) r=1.10m +[headless_play] t= 15.70s step= 785 trunk_z= 119.5mm grav_b=(-0.03,-0.11,-0.99) r=1.12m +[headless_play] t= 15.80s step= 790 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=1.13m +[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(-0.01,+0.09,-1.00) r=1.15m +[headless_play] t= 16.00s step= 800 trunk_z= 115.6mm grav_b=(-0.04,-0.11,-0.99) r=1.17m +[headless_play] t= 16.10s step= 805 trunk_z= 122.3mm grav_b=(+0.01,-0.09,-1.00) r=1.18m +[headless_play] t= 16.20s step= 810 trunk_z= 116.6mm grav_b=(-0.03,+0.10,-0.99) r=1.20m +[headless_play] t= 16.30s step= 815 trunk_z= 120.8mm grav_b=(-0.02,+0.02,-1.00) r=1.22m +[headless_play] t= 16.40s step= 820 trunk_z= 119.4mm grav_b=(-0.00,-0.11,-0.99) r=1.24m +[headless_play] t= 16.50s step= 825 trunk_z= 117.5mm grav_b=(-0.03,+0.07,-1.00) r=1.26m +[headless_play] t= 16.60s step= 830 trunk_z= 125.1mm grav_b=(+0.00,+0.10,-0.99) r=1.28m +[headless_play] t= 16.70s step= 835 trunk_z= 116.5mm grav_b=(-0.02,-0.08,-1.00) r=1.30m +[headless_play] t= 16.80s step= 840 trunk_z= 122.7mm grav_b=(-0.00,-0.07,-1.00) r=1.32m +[headless_play] t= 16.90s step= 845 trunk_z= 117.2mm grav_b=(-0.05,+0.11,-0.99) r=1.33m +[headless_play] t= 17.00s step= 850 trunk_z= 124.0mm grav_b=(-0.02,+0.06,-1.00) r=1.35m +[headless_play] t= 17.10s step= 855 trunk_z= 117.3mm grav_b=(-0.01,-0.11,-0.99) r=1.38m +[headless_play] t= 17.20s step= 860 trunk_z= 111.7mm grav_b=(+0.03,-0.05,-1.00) r=1.40m +[headless_play] t= 17.30s step= 865 trunk_z= 101.9mm grav_b=(+0.16,-0.25,-0.96) r=1.42m +[headless_play] t= 17.40s step= 870 trunk_z= 64.2mm grav_b=(+0.03,-0.66,-0.75) r=1.41m +[headless_play] RESET at t= 17.46s step= 873 (env termination, not a recovery) +[headless_play] t= 17.50s step= 875 trunk_z= 115.6mm grav_b=(-0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 17.60s step= 880 trunk_z= 118.0mm grav_b=(-0.06,+0.01,-1.00) r=0.17m +[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(-0.04,+0.01,-1.00) r=0.17m +[headless_play] t= 17.80s step= 890 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 17.90s step= 895 trunk_z= 119.3mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 18.00s step= 900 trunk_z= 119.8mm grav_b=(-0.07,+0.04,-1.00) r=0.16m +[headless_play] t= 18.10s step= 905 trunk_z= 119.9mm grav_b=(-0.08,+0.01,-1.00) r=0.17m +[headless_play] t= 18.20s step= 910 trunk_z= 120.0mm grav_b=(-0.09,+0.02,-1.00) r=0.17m +[headless_play] t= 18.30s step= 915 trunk_z= 120.3mm grav_b=(-0.08,+0.02,-1.00) r=0.16m +[headless_play] t= 18.40s step= 920 trunk_z= 120.6mm grav_b=(-0.08,+0.01,-1.00) r=0.17m +[headless_play] t= 18.50s step= 925 trunk_z= 120.3mm grav_b=(-0.08,+0.02,-1.00) r=0.16m +[headless_play] t= 18.60s step= 930 trunk_z= 120.4mm grav_b=(-0.08,+0.02,-1.00) r=0.17m +[headless_play] t= 18.70s step= 935 trunk_z= 120.2mm grav_b=(-0.08,+0.02,-1.00) r=0.16m +[headless_play] t= 18.80s step= 940 trunk_z= 120.4mm grav_b=(-0.07,+0.03,-1.00) r=0.16m +[headless_play] t= 18.90s step= 945 trunk_z= 120.7mm grav_b=(-0.07,+0.01,-1.00) r=0.16m +[headless_play] t= 19.00s step= 950 trunk_z= 119.9mm grav_b=(-0.07,+0.06,-1.00) r=0.16m +[headless_play] t= 19.10s step= 955 trunk_z= 120.3mm grav_b=(-0.04,+0.00,-1.00) r=0.15m +[headless_play] t= 19.20s step= 960 trunk_z= 119.2mm grav_b=(-0.07,-0.05,-1.00) r=0.15m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(-0.13,+0.09,-0.99) r=0.14m +[headless_play] t= 19.40s step= 970 trunk_z= 121.7mm grav_b=(-0.07,+0.01,-1.00) r=0.13m +[headless_play] t= 19.50s step= 975 trunk_z= 118.0mm grav_b=(-0.06,-0.07,-1.00) r=0.12m +[headless_play] t= 19.60s step= 980 trunk_z= 113.7mm grav_b=(-0.11,+0.14,-0.98) r=0.10m +[headless_play] t= 19.70s step= 985 trunk_z= 122.9mm grav_b=(-0.09,+0.08,-0.99) r=0.09m +[headless_play] t= 19.80s step= 990 trunk_z= 118.0mm grav_b=(-0.10,-0.11,-0.99) r=0.08m +[headless_play] t= 19.90s step= 995 trunk_z= 119.4mm grav_b=(-0.12,+0.03,-0.99) r=0.07m +[headless_play] t= 20.00s step=1000 trunk_z= 124.7mm grav_b=(-0.07,+0.12,-0.99) r=0.05m +[headless_play] t= 20.10s step=1005 trunk_z= 119.6mm grav_b=(-0.05,-0.07,-1.00) r=0.04m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..bebb55a510c160b12a8f19a4aa0c7bc2991a3cd0 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.386,-18.499,+0.196) +[headless_play] t= 0.00s step= 0 trunk_z= 118.7mm grav_b=(-0.01,+0.00,-1.00) r=0.63m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.05,-0.01,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.05,-0.03,-1.00) r=0.64m +[headless_play] t= 0.30s step= 15 trunk_z= 120.0mm grav_b=(-0.06,-0.06,-1.00) r=0.64m +[headless_play] t= 0.40s step= 20 trunk_z= 118.6mm grav_b=(-0.10,+0.05,-0.99) r=0.65m +[headless_play] t= 0.50s step= 25 trunk_z= 118.5mm grav_b=(-0.06,-0.04,-1.00) r=0.65m +[headless_play] t= 0.60s step= 30 trunk_z= 118.9mm grav_b=(-0.09,-0.13,-0.99) r=0.66m +[headless_play] t= 0.70s step= 35 trunk_z= 117.9mm grav_b=(-0.16,+0.05,-0.99) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 122.9mm grav_b=(-0.11,+0.08,-0.99) r=0.66m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(-0.09,-0.07,-0.99) r=0.67m +[headless_play] t= 1.00s step= 50 trunk_z= 120.4mm grav_b=(-0.10,-0.04,-0.99) r=0.68m +[headless_play] t= 1.10s step= 55 trunk_z= 119.4mm grav_b=(-0.09,+0.10,-0.99) r=0.68m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(-0.07,-0.03,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 123.0mm grav_b=(-0.08,-0.14,-0.99) r=0.70m +[headless_play] t= 1.40s step= 70 trunk_z= 119.9mm grav_b=(-0.11,+0.01,-0.99) r=0.71m +[headless_play] t= 1.50s step= 75 trunk_z= 122.5mm grav_b=(-0.10,+0.06,-0.99) r=0.71m +[headless_play] t= 1.60s step= 80 trunk_z= 117.0mm grav_b=(-0.08,-0.10,-0.99) r=0.72m +[headless_play] t= 1.70s step= 85 trunk_z= 119.1mm grav_b=(-0.09,-0.01,-1.00) r=0.73m +[headless_play] t= 1.80s step= 90 trunk_z= 121.3mm grav_b=(-0.05,+0.08,-1.00) r=0.74m +[headless_play] t= 1.90s step= 95 trunk_z= 116.8mm grav_b=(-0.09,-0.10,-0.99) r=0.74m +[headless_play] t= 2.00s step= 100 trunk_z= 120.2mm grav_b=(-0.11,-0.05,-0.99) r=0.75m +[headless_play] t= 2.10s step= 105 trunk_z= 120.7mm grav_b=(-0.09,+0.11,-0.99) r=0.75m +[headless_play] t= 2.20s step= 110 trunk_z= 120.0mm grav_b=(-0.10,-0.02,-1.00) r=0.76m +[headless_play] t= 2.30s step= 115 trunk_z= 121.8mm grav_b=(-0.10,-0.13,-0.99) r=0.77m +[headless_play] t= 2.40s step= 120 trunk_z= 119.2mm grav_b=(-0.11,+0.02,-0.99) r=0.78m +[headless_play] t= 2.50s step= 125 trunk_z= 121.9mm grav_b=(-0.09,+0.09,-0.99) r=0.78m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.09,-0.09,-0.99) r=0.80m +[headless_play] t= 2.70s step= 135 trunk_z= 122.6mm grav_b=(-0.09,-0.09,-0.99) r=0.81m +[headless_play] t= 2.80s step= 140 trunk_z= 118.7mm grav_b=(-0.08,+0.10,-0.99) r=0.82m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(-0.07,+0.01,-1.00) r=0.83m +[headless_play] t= 3.00s step= 150 trunk_z= 120.9mm grav_b=(-0.08,-0.12,-0.99) r=0.84m +[headless_play] t= 3.10s step= 155 trunk_z= 119.7mm grav_b=(-0.12,+0.01,-0.99) r=0.85m +[headless_play] t= 3.20s step= 160 trunk_z= 121.7mm grav_b=(-0.12,+0.06,-0.99) r=0.86m +[headless_play] t= 3.30s step= 165 trunk_z= 117.8mm grav_b=(-0.10,-0.10,-0.99) r=0.87m +[headless_play] t= 3.40s step= 170 trunk_z= 120.2mm grav_b=(-0.10,-0.03,-0.99) r=0.88m +[headless_play] t= 3.50s step= 175 trunk_z= 120.8mm grav_b=(-0.09,+0.07,-0.99) r=0.89m +[headless_play] t= 3.60s step= 180 trunk_z= 117.8mm grav_b=(-0.09,-0.09,-0.99) r=0.90m +[headless_play] t= 3.70s step= 185 trunk_z= 120.5mm grav_b=(-0.10,-0.04,-0.99) r=0.92m +[headless_play] t= 3.80s step= 190 trunk_z= 121.3mm grav_b=(-0.08,+0.07,-0.99) r=0.93m +[headless_play] t= 3.90s step= 195 trunk_z= 118.6mm grav_b=(-0.08,-0.08,-0.99) r=0.94m +[headless_play] t= 4.00s step= 200 trunk_z= 121.7mm grav_b=(-0.11,-0.07,-0.99) r=0.95m +[headless_play] t= 4.10s step= 205 trunk_z= 119.6mm grav_b=(-0.08,+0.06,-1.00) r=0.96m +[headless_play] t= 4.20s step= 210 trunk_z= 117.9mm grav_b=(-0.09,-0.09,-0.99) r=0.97m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(-0.09,-0.04,-1.00) r=0.99m +[headless_play] t= 4.40s step= 220 trunk_z= 116.0mm grav_b=(-0.02,-0.02,-1.00) r=0.99m +[headless_play] t= 4.50s step= 225 trunk_z= 105.4mm grav_b=(-0.06,-0.22,-0.97) r=1.01m +[headless_play] t= 4.60s step= 230 trunk_z= 105.6mm grav_b=(-0.07,-0.24,-0.97) r=1.03m +[headless_play] t= 4.70s step= 235 trunk_z= 104.0mm grav_b=(-0.13,-0.02,-0.99) r=1.02m +[headless_play] t= 4.80s step= 240 trunk_z= 112.9mm grav_b=(-0.25,+0.06,-0.97) r=1.03m +[headless_play] t= 4.90s step= 245 trunk_z= 98.1mm grav_b=(-0.49,-0.00,-0.87) r=1.02m +[headless_play] RESET at t= 5.00s step= 250 (env termination, not a recovery) +[headless_play] t= 5.00s step= 250 trunk_z= 127.3mm grav_b=(-0.00,-0.00,-1.00) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(-0.04,-0.01,-1.00) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 117.9mm grav_b=(-0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(-0.06,-0.02,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 116.8mm grav_b=(-0.07,-0.08,-0.99) r=0.56m +[headless_play] t= 5.60s step= 280 trunk_z= 117.5mm grav_b=(-0.10,-0.07,-0.99) r=0.55m +[headless_play] t= 5.70s step= 285 trunk_z= 116.0mm grav_b=(-0.12,+0.03,-0.99) r=0.54m +[headless_play] t= 5.80s step= 290 trunk_z= 118.3mm grav_b=(-0.15,+0.01,-0.99) r=0.53m +[headless_play] t= 5.90s step= 295 trunk_z= 116.4mm grav_b=(-0.12,-0.04,-0.99) r=0.53m +[headless_play] t= 6.00s step= 300 trunk_z= 111.7mm grav_b=(-0.06,-0.14,-0.99) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 109.7mm grav_b=(-0.04,-0.09,-1.00) r=0.51m +[headless_play] t= 6.20s step= 310 trunk_z= 105.7mm grav_b=(+0.04,-0.03,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 112.6mm grav_b=(-0.03,-0.04,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 108.1mm grav_b=(-0.03,-0.13,-0.99) r=0.47m +[headless_play] t= 6.50s step= 325 trunk_z= 110.6mm grav_b=(-0.01,-0.04,-1.00) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 110.1mm grav_b=(-0.05,+0.04,-1.00) r=0.44m +[headless_play] t= 6.70s step= 335 trunk_z= 110.4mm grav_b=(-0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 6.80s step= 340 trunk_z= 106.4mm grav_b=(-0.03,-0.16,-0.99) r=0.41m +[headless_play] t= 6.90s step= 345 trunk_z= 114.7mm grav_b=(-0.03,-0.13,-0.99) r=0.40m +[headless_play] t= 7.00s step= 350 trunk_z= 110.1mm grav_b=(-0.01,-0.02,-1.00) r=0.39m +[headless_play] t= 7.10s step= 355 trunk_z= 115.0mm grav_b=(-0.06,-0.02,-1.00) r=0.37m +[headless_play] t= 7.20s step= 360 trunk_z= 111.8mm grav_b=(-0.07,-0.10,-0.99) r=0.36m +[headless_play] t= 7.30s step= 365 trunk_z= 111.9mm grav_b=(-0.05,-0.11,-0.99) r=0.35m +[headless_play] t= 7.40s step= 370 trunk_z= 106.4mm grav_b=(+0.01,+0.01,-1.00) r=0.34m +[headless_play] t= 7.50s step= 375 trunk_z= 112.8mm grav_b=(-0.04,+0.01,-1.00) r=0.33m +[headless_play] t= 7.60s step= 380 trunk_z= 111.4mm grav_b=(-0.06,-0.07,-1.00) r=0.32m +[headless_play] t= 7.70s step= 385 trunk_z= 112.3mm grav_b=(-0.08,-0.12,-0.99) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 109.9mm grav_b=(-0.02,-0.04,-1.00) r=0.31m +[headless_play] t= 7.90s step= 395 trunk_z= 111.6mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 8.00s step= 400 trunk_z= 112.2mm grav_b=(-0.04,-0.00,-1.00) r=0.31m +[headless_play] t= 8.10s step= 405 trunk_z= 107.3mm grav_b=(-0.00,-0.09,-1.00) r=0.31m +[headless_play] t= 8.20s step= 410 trunk_z= 115.1mm grav_b=(-0.06,+0.04,-1.00) r=0.30m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(-0.06,+0.02,-1.00) r=0.30m +[headless_play] t= 8.40s step= 420 trunk_z= 119.6mm grav_b=(-0.08,-0.05,-1.00) r=0.30m +[headless_play] t= 8.50s step= 425 trunk_z= 115.8mm grav_b=(-0.04,+0.10,-0.99) r=0.30m +[headless_play] t= 8.60s step= 430 trunk_z= 120.2mm grav_b=(-0.04,-0.10,-0.99) r=0.31m +[headless_play] t= 8.70s step= 435 trunk_z= 128.8mm grav_b=(-0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 8.80s step= 440 trunk_z= 124.7mm grav_b=(-0.13,-0.01,-0.99) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 110.6mm grav_b=(-0.29,+0.08,-0.95) r=0.37m +[headless_play] t= 9.00s step= 450 trunk_z= 109.0mm grav_b=(-0.20,-0.03,-0.98) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 104.6mm grav_b=(+0.03,+0.07,-1.00) r=0.41m +[headless_play] t= 9.20s step= 460 trunk_z= 112.2mm grav_b=(-0.09,-0.00,-1.00) r=0.42m +[headless_play] t= 9.30s step= 465 trunk_z= 111.7mm grav_b=(-0.14,-0.01,-0.99) r=0.43m +[headless_play] t= 9.40s step= 470 trunk_z= 114.4mm grav_b=(-0.07,+0.01,-1.00) r=0.44m +[headless_play] t= 9.50s step= 475 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 9.90s step= 495 trunk_z= 117.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.00s step= 500 trunk_z= 117.3mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 117.4mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 10.20s step= 510 trunk_z= 117.4mm grav_b=(-0.06,-0.00,-1.00) r=0.43m +[headless_play] t= 10.30s step= 515 trunk_z= 117.4mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.50s step= 525 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 10.80s step= 540 trunk_z= 117.7mm grav_b=(-0.06,-0.00,-1.00) r=0.43m +[headless_play] t= 10.90s step= 545 trunk_z= 117.8mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.00s step= 550 trunk_z= 117.8mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.30s step= 565 trunk_z= 117.9mm grav_b=(-0.06,-0.00,-1.00) r=0.43m +[headless_play] t= 11.40s step= 570 trunk_z= 118.1mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 11.50s step= 575 trunk_z= 118.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 11.60s step= 580 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 11.70s step= 585 trunk_z= 118.2mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 11.90s step= 595 trunk_z= 118.3mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 12.00s step= 600 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 12.10s step= 605 trunk_z= 118.4mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 12.20s step= 610 trunk_z= 118.4mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 12.30s step= 615 trunk_z= 118.5mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 12.40s step= 620 trunk_z= 118.5mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 118.6mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 118.6mm grav_b=(-0.07,-0.00,-1.00) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 118.6mm grav_b=(-0.08,-0.01,-1.00) r=0.43m +[headless_play] t= 12.80s step= 640 trunk_z= 118.7mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.00s step= 650 trunk_z= 118.6mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 118.8mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.20s step= 660 trunk_z= 118.8mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.30s step= 665 trunk_z= 118.8mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.40s step= 670 trunk_z= 118.8mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.50s step= 675 trunk_z= 118.7mm grav_b=(-0.08,-0.00,-1.00) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 119.1mm grav_b=(-0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 13.70s step= 685 trunk_z= 120.3mm grav_b=(-0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 13.80s step= 690 trunk_z= 118.0mm grav_b=(-0.03,-0.09,-1.00) r=0.41m +[headless_play] t= 13.90s step= 695 trunk_z= 117.8mm grav_b=(-0.07,-0.07,-0.99) r=0.41m +[headless_play] t= 14.00s step= 700 trunk_z= 114.8mm grav_b=(-0.16,-0.01,-0.99) r=0.42m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.15,-0.02,-0.99) r=0.43m +[headless_play] t= 14.20s step= 710 trunk_z= 118.8mm grav_b=(-0.09,+0.00,-1.00) r=0.43m +[headless_play] t= 14.30s step= 715 trunk_z= 119.1mm grav_b=(-0.05,+0.00,-1.00) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 119.4mm grav_b=(-0.04,-0.00,-1.00) r=0.44m +[headless_play] t= 14.50s step= 725 trunk_z= 119.1mm grav_b=(-0.07,+0.00,-1.00) r=0.44m +[headless_play] t= 14.60s step= 730 trunk_z= 119.0mm grav_b=(-0.08,+0.00,-1.00) r=0.44m +[headless_play] t= 14.70s step= 735 trunk_z= 119.0mm grav_b=(-0.08,+0.00,-1.00) r=0.44m +[headless_play] t= 14.80s step= 740 trunk_z= 119.1mm grav_b=(-0.07,+0.00,-1.00) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 119.1mm grav_b=(-0.07,+0.00,-1.00) r=0.44m +[headless_play] t= 15.00s step= 750 trunk_z= 119.2mm grav_b=(-0.07,+0.00,-1.00) r=0.44m +[headless_play] t= 15.10s step= 755 trunk_z= 118.8mm grav_b=(-0.07,-0.01,-1.00) r=0.43m +[headless_play] t= 15.20s step= 760 trunk_z= 118.2mm grav_b=(-0.05,-0.02,-1.00) r=0.43m +[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 15.40s step= 770 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] t= 15.50s step= 775 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 15.70s step= 785 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 15.80s step= 790 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 15.90s step= 795 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.00s step= 800 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.10s step= 805 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.30s step= 815 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.50s step= 825 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.60s step= 830 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.70s step= 835 trunk_z= 118.0mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 16.90s step= 845 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.10s step= 855 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.20s step= 860 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.30s step= 865 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.40s step= 870 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.50s step= 875 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.60s step= 880 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.70s step= 885 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.80s step= 890 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 17.90s step= 895 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 18.00s step= 900 trunk_z= 118.2mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 18.20s step= 910 trunk_z= 118.2mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 18.30s step= 915 trunk_z= 118.1mm grav_b=(-0.06,-0.01,-1.00) r=0.43m +[headless_play] t= 18.40s step= 920 trunk_z= 118.4mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(+0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(-0.08,+0.13,-0.99) r=0.41m +[headless_play] t= 18.70s step= 935 trunk_z= 115.1mm grav_b=(-0.14,-0.01,-0.99) r=0.40m +[headless_play] t= 18.80s step= 940 trunk_z= 118.6mm grav_b=(-0.03,-0.06,-1.00) r=0.39m +[headless_play] t= 18.90s step= 945 trunk_z= 116.2mm grav_b=(-0.10,+0.00,-0.99) r=0.38m +[headless_play] t= 19.00s step= 950 trunk_z= 116.7mm grav_b=(-0.10,-0.02,-0.99) r=0.38m +[headless_play] t= 19.10s step= 955 trunk_z= 116.6mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 19.20s step= 960 trunk_z= 116.6mm grav_b=(-0.01,-0.03,-1.00) r=0.39m +[headless_play] t= 19.30s step= 965 trunk_z= 116.8mm grav_b=(-0.03,-0.03,-1.00) r=0.39m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] t= 19.50s step= 975 trunk_z= 117.1mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 19.80s step= 990 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 19.90s step= 995 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 20.00s step=1000 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(-0.05,-0.03,-1.00) r=0.39m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..76ab645993a20f9f7e536322ee218585ff055020 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t5.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.698,-17.932,+0.203) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,-0.00,-1.00) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(+0.01,+0.05,-1.00) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(+0.03,+0.05,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 120.0mm grav_b=(+0.05,+0.07,-1.00) r=0.31m +[headless_play] t= 0.40s step= 20 trunk_z= 123.3mm grav_b=(+0.08,+0.04,-1.00) r=0.31m +[headless_play] t= 0.50s step= 25 trunk_z= 109.3mm grav_b=(+0.03,-0.27,-0.96) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 113.8mm grav_b=(-0.03,-0.24,-0.97) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 119.6mm grav_b=(-0.04,-0.02,-1.00) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 123.8mm grav_b=(-0.01,+0.08,-1.00) r=0.31m +[headless_play] t= 0.90s step= 45 trunk_z= 121.3mm grav_b=(-0.01,+0.02,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 124.6mm grav_b=(+0.01,-0.03,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 120.9mm grav_b=(-0.00,+0.08,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 123.0mm grav_b=(+0.08,-0.01,-1.00) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 107.4mm grav_b=(-0.03,-0.26,-0.96) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(+0.01,-0.09,-1.00) r=0.33m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(-0.05,+0.14,-0.99) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 125.9mm grav_b=(-0.02,+0.15,-0.99) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 120.3mm grav_b=(+0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 122.3mm grav_b=(-0.01,+0.01,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 118.1mm grav_b=(+0.04,+0.16,-0.99) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 125.8mm grav_b=(+0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 118.1mm grav_b=(-0.02,-0.17,-0.99) r=0.39m +[headless_play] t= 2.20s step= 110 trunk_z= 120.6mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 125.2mm grav_b=(+0.03,+0.08,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 123.6mm grav_b=(+0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 2.50s step= 125 trunk_z= 119.5mm grav_b=(-0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 117.9mm grav_b=(+0.01,+0.13,-0.99) r=0.43m +[headless_play] t= 2.70s step= 135 trunk_z= 126.8mm grav_b=(+0.05,-0.00,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 112.2mm grav_b=(-0.07,-0.12,-0.99) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 118.7mm grav_b=(-0.06,+0.02,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 123.3mm grav_b=(+0.03,+0.14,-0.99) r=0.47m +[headless_play] t= 3.10s step= 155 trunk_z= 126.8mm grav_b=(+0.08,+0.04,-1.00) r=0.48m +[headless_play] t= 3.20s step= 160 trunk_z= 115.3mm grav_b=(-0.01,-0.10,-0.99) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 119.9mm grav_b=(-0.03,+0.05,-1.00) r=0.51m +[headless_play] t= 3.40s step= 170 trunk_z= 124.2mm grav_b=(+0.07,+0.08,-0.99) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 120.7mm grav_b=(+0.03,-0.10,-0.99) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 115.5mm grav_b=(+0.00,-0.05,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.02,+0.15,-0.99) r=0.57m +[headless_play] t= 3.80s step= 190 trunk_z= 127.6mm grav_b=(+0.02,+0.13,-0.99) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 124.9mm grav_b=(+0.02,+0.04,-1.00) r=0.60m +[headless_play] t= 4.00s step= 200 trunk_z= 121.0mm grav_b=(-0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 116.8mm grav_b=(-0.00,+0.15,-0.99) r=0.63m +[headless_play] t= 4.20s step= 210 trunk_z= 128.2mm grav_b=(+0.12,+0.06,-0.99) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 124.6mm grav_b=(+0.06,-0.03,-1.00) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 111.9mm grav_b=(-0.13,+0.02,-0.99) r=0.62m +[headless_play] t= 4.50s step= 225 trunk_z= 115.4mm grav_b=(-0.09,+0.12,-0.99) r=0.62m +[headless_play] t= 4.60s step= 230 trunk_z= 120.0mm grav_b=(+0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 4.70s step= 235 trunk_z= 121.6mm grav_b=(-0.01,-0.08,-1.00) r=0.62m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(-0.01,+0.11,-0.99) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 123.3mm grav_b=(+0.06,+0.02,-1.00) r=0.64m +[headless_play] t= 5.00s step= 250 trunk_z= 118.0mm grav_b=(+0.01,-0.12,-0.99) r=0.66m +[headless_play] t= 5.10s step= 255 trunk_z= 118.3mm grav_b=(-0.04,+0.04,-1.00) r=0.68m +[headless_play] t= 5.20s step= 260 trunk_z= 122.8mm grav_b=(+0.04,+0.03,-1.00) r=0.69m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.00,-0.13,-0.99) r=0.71m +[headless_play] t= 5.40s step= 270 trunk_z= 120.8mm grav_b=(-0.01,-0.03,-1.00) r=0.73m +[headless_play] t= 5.50s step= 275 trunk_z= 122.9mm grav_b=(+0.07,+0.07,-1.00) r=0.74m +[headless_play] t= 5.60s step= 280 trunk_z= 123.4mm grav_b=(+0.00,-0.05,-1.00) r=0.76m +[headless_play] t= 5.70s step= 285 trunk_z= 125.4mm grav_b=(+0.00,-0.09,-1.00) r=0.78m +[headless_play] t= 5.80s step= 290 trunk_z= 117.4mm grav_b=(-0.01,+0.08,-1.00) r=0.80m +[headless_play] t= 5.90s step= 295 trunk_z= 126.2mm grav_b=(+0.02,+0.02,-1.00) r=0.82m +[headless_play] t= 6.00s step= 300 trunk_z= 119.9mm grav_b=(+0.00,-0.14,-0.99) r=0.84m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(-0.01,-0.02,-1.00) r=0.86m +[headless_play] t= 6.20s step= 310 trunk_z= 121.5mm grav_b=(+0.04,+0.03,-1.00) r=0.87m +[headless_play] t= 6.30s step= 315 trunk_z= 118.4mm grav_b=(-0.01,-0.14,-0.99) r=0.89m +[headless_play] t= 6.40s step= 320 trunk_z= 124.7mm grav_b=(-0.01,-0.08,-1.00) r=0.92m +[headless_play] t= 6.50s step= 325 trunk_z= 120.2mm grav_b=(+0.02,+0.07,-1.00) r=0.93m +[headless_play] t= 6.60s step= 330 trunk_z= 124.6mm grav_b=(+0.02,-0.03,-1.00) r=0.95m +[headless_play] t= 6.70s step= 335 trunk_z= 122.8mm grav_b=(+0.02,-0.11,-0.99) r=0.97m +[headless_play] t= 6.80s step= 340 trunk_z= 118.8mm grav_b=(-0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 6.90s step= 345 trunk_z= 125.1mm grav_b=(+0.02,+0.03,-1.00) r=1.00m +[headless_play] t= 7.00s step= 350 trunk_z= 118.4mm grav_b=(-0.01,-0.12,-0.99) r=1.02m +[headless_play] t= 7.10s step= 355 trunk_z= 123.3mm grav_b=(-0.03,-0.05,-1.00) r=1.03m +[headless_play] t= 7.20s step= 360 trunk_z= 121.4mm grav_b=(+0.00,+0.06,-1.00) r=1.04m +[headless_play] t= 7.30s step= 365 trunk_z= 121.2mm grav_b=(-0.01,-0.08,-1.00) r=1.06m +[headless_play] t= 7.40s step= 370 trunk_z= 126.5mm grav_b=(-0.02,-0.09,-1.00) r=1.07m +[headless_play] t= 7.50s step= 375 trunk_z= 118.5mm grav_b=(-0.02,+0.08,-1.00) r=1.08m +[headless_play] t= 7.60s step= 380 trunk_z= 122.9mm grav_b=(+0.01,-0.02,-1.00) r=1.09m +[headless_play] t= 7.70s step= 385 trunk_z= 123.4mm grav_b=(-0.00,-0.13,-0.99) r=1.11m +[headless_play] t= 7.80s step= 390 trunk_z= 120.6mm grav_b=(-0.04,-0.01,-1.00) r=1.12m +[headless_play] t= 7.90s step= 395 trunk_z= 123.6mm grav_b=(+0.00,+0.07,-1.00) r=1.14m +[headless_play] t= 8.00s step= 400 trunk_z= 120.0mm grav_b=(-0.01,-0.07,-1.00) r=1.15m +[headless_play] t= 8.10s step= 405 trunk_z= 122.3mm grav_b=(-0.02,-0.03,-1.00) r=1.16m +[headless_play] t= 8.20s step= 410 trunk_z= 120.6mm grav_b=(+0.02,+0.07,-1.00) r=1.17m +[headless_play] t= 8.30s step= 415 trunk_z= 121.0mm grav_b=(-0.04,-0.09,-1.00) r=1.19m +[headless_play] t= 8.40s step= 420 trunk_z= 126.2mm grav_b=(-0.03,-0.11,-0.99) r=1.20m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(-0.02,+0.09,-1.00) r=1.22m +[headless_play] t= 8.60s step= 430 trunk_z= 124.4mm grav_b=(+0.02,+0.00,-1.00) r=1.23m +[headless_play] t= 8.70s step= 435 trunk_z= 120.1mm grav_b=(-0.01,-0.14,-0.99) r=1.25m +[headless_play] t= 8.80s step= 440 trunk_z= 106.6mm grav_b=(-0.01,-0.05,-1.00) r=1.29m +[headless_play] t= 8.90s step= 445 trunk_z= 106.2mm grav_b=(+0.11,-0.21,-0.97) r=1.31m +[headless_play] t= 9.00s step= 450 trunk_z= 77.5mm grav_b=(+0.18,-0.50,-0.85) r=1.34m +[headless_play] t= 9.10s step= 455 trunk_z= 56.7mm grav_b=(+0.63,-0.35,-0.69) r=1.40m +[headless_play] RESET at t= 9.18s step= 459 (env termination, not a recovery) +[headless_play] t= 9.20s step= 460 trunk_z= 118.8mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 9.30s step= 465 trunk_z= 115.9mm grav_b=(+0.02,-0.03,-1.00) r=0.35m +[headless_play] t= 9.40s step= 470 trunk_z= 117.5mm grav_b=(+0.04,-0.03,-1.00) r=0.35m +[headless_play] t= 9.50s step= 475 trunk_z= 118.8mm grav_b=(+0.06,-0.02,-1.00) r=0.35m +[headless_play] t= 9.60s step= 480 trunk_z= 122.5mm grav_b=(+0.14,-0.02,-0.99) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 100.8mm grav_b=(+0.13,-0.12,-0.98) r=0.43m +[headless_play] t= 9.80s step= 490 trunk_z= 92.2mm grav_b=(+0.34,-0.53,-0.78) r=0.47m +[headless_play] t= 9.90s step= 495 trunk_z= 65.1mm grav_b=(+0.84,+0.44,-0.31) r=0.53m +[headless_play] RESET at t= 9.92s step= 496 (env termination, not a recovery) +[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(-0.02,+0.03,-1.00) r=0.38m +[headless_play] t= 10.10s step= 505 trunk_z= 114.4mm grav_b=(+0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 10.20s step= 510 trunk_z= 114.6mm grav_b=(+0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 10.30s step= 515 trunk_z= 112.1mm grav_b=(-0.01,-0.09,-1.00) r=0.41m +[headless_play] t= 10.40s step= 520 trunk_z= 116.4mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 10.50s step= 525 trunk_z= 113.4mm grav_b=(+0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 10.60s step= 530 trunk_z= 113.8mm grav_b=(+0.02,+0.05,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 111.2mm grav_b=(+0.07,+0.02,-1.00) r=0.42m +[headless_play] t= 10.80s step= 540 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=0.43m +[headless_play] t= 10.90s step= 545 trunk_z= 116.1mm grav_b=(+0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 11.00s step= 550 trunk_z= 110.1mm grav_b=(+0.08,+0.01,-1.00) r=0.45m +[headless_play] t= 11.10s step= 555 trunk_z= 114.5mm grav_b=(+0.02,+0.02,-1.00) r=0.45m +[headless_play] t= 11.20s step= 560 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) r=0.45m +[headless_play] t= 11.30s step= 565 trunk_z= 105.7mm grav_b=(+0.05,-0.04,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 114.8mm grav_b=(+0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 112.0mm grav_b=(+0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 111.7mm grav_b=(+0.08,+0.03,-1.00) r=0.49m +[headless_play] t= 11.70s step= 585 trunk_z= 113.8mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 11.80s step= 590 trunk_z= 110.1mm grav_b=(-0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 11.90s step= 595 trunk_z= 115.0mm grav_b=(-0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 12.00s step= 600 trunk_z= 114.6mm grav_b=(-0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 12.10s step= 605 trunk_z= 112.1mm grav_b=(+0.03,+0.05,-1.00) r=0.52m +[headless_play] t= 12.20s step= 610 trunk_z= 109.3mm grav_b=(+0.04,-0.08,-1.00) r=0.54m +[headless_play] t= 12.30s step= 615 trunk_z= 114.6mm grav_b=(+0.05,-0.03,-1.00) r=0.55m +[headless_play] t= 12.40s step= 620 trunk_z= 109.0mm grav_b=(+0.07,+0.03,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 114.2mm grav_b=(+0.01,+0.05,-1.00) r=0.56m +[headless_play] t= 12.60s step= 630 trunk_z= 112.2mm grav_b=(+0.04,+0.05,-1.00) r=0.57m +[headless_play] t= 12.70s step= 635 trunk_z= 108.6mm grav_b=(+0.07,-0.05,-1.00) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(+0.03,-0.04,-1.00) r=0.59m +[headless_play] t= 12.90s step= 645 trunk_z= 114.0mm grav_b=(+0.01,+0.07,-1.00) r=0.59m +[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(+0.05,-0.03,-1.00) r=0.59m +[headless_play] t= 13.10s step= 655 trunk_z= 119.6mm grav_b=(+0.03,-0.14,-0.99) r=0.60m +[headless_play] t= 13.20s step= 660 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 122.8mm grav_b=(-0.01,+0.08,-1.00) r=0.61m +[headless_play] t= 13.40s step= 670 trunk_z= 114.0mm grav_b=(+0.02,-0.10,-0.99) r=0.61m +[headless_play] t= 13.50s step= 675 trunk_z= 121.5mm grav_b=(-0.01,-0.06,-1.00) r=0.62m +[headless_play] t= 13.60s step= 680 trunk_z= 119.9mm grav_b=(-0.04,+0.11,-0.99) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 119.4mm grav_b=(-0.01,-0.01,-1.00) r=0.63m +[headless_play] t= 13.80s step= 690 trunk_z= 121.1mm grav_b=(-0.01,-0.13,-0.99) r=0.64m +[headless_play] t= 13.90s step= 695 trunk_z= 117.5mm grav_b=(+0.00,+0.07,-1.00) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 118.9mm grav_b=(+0.05,-0.04,-1.00) r=0.69m +[headless_play] t= 14.10s step= 705 trunk_z= 121.5mm grav_b=(+0.02,-0.17,-0.99) r=0.72m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(-0.04,-0.03,-1.00) r=0.73m +[headless_play] t= 14.30s step= 715 trunk_z= 120.9mm grav_b=(-0.04,+0.06,-1.00) r=0.75m +[headless_play] t= 14.40s step= 720 trunk_z= 117.2mm grav_b=(-0.02,-0.10,-1.00) r=0.76m +[headless_play] t= 14.50s step= 725 trunk_z= 119.3mm grav_b=(+0.01,-0.02,-1.00) r=0.77m +[headless_play] t= 14.60s step= 730 trunk_z= 119.3mm grav_b=(+0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 14.70s step= 735 trunk_z= 116.5mm grav_b=(-0.01,-0.12,-0.99) r=0.78m +[headless_play] t= 14.80s step= 740 trunk_z= 122.0mm grav_b=(-0.01,-0.06,-1.00) r=0.78m +[headless_play] t= 14.90s step= 745 trunk_z= 120.4mm grav_b=(-0.01,+0.08,-1.00) r=0.78m +[headless_play] t= 15.00s step= 750 trunk_z= 117.1mm grav_b=(-0.02,-0.06,-1.00) r=0.79m +[headless_play] t= 15.10s step= 755 trunk_z= 118.6mm grav_b=(+0.00,-0.03,-1.00) r=0.79m +[headless_play] t= 15.20s step= 760 trunk_z= 119.6mm grav_b=(+0.03,+0.08,-1.00) r=0.79m +[headless_play] t= 15.30s step= 765 trunk_z= 115.8mm grav_b=(-0.00,-0.07,-1.00) r=0.80m +[headless_play] t= 15.40s step= 770 trunk_z= 118.3mm grav_b=(-0.01,-0.04,-1.00) r=0.80m +[headless_play] t= 15.50s step= 775 trunk_z= 118.5mm grav_b=(+0.01,+0.08,-1.00) r=0.80m +[headless_play] t= 15.60s step= 780 trunk_z= 116.1mm grav_b=(+0.03,-0.07,-1.00) r=0.81m +[headless_play] t= 15.70s step= 785 trunk_z= 121.0mm grav_b=(+0.01,-0.12,-0.99) r=0.82m +[headless_play] t= 15.80s step= 790 trunk_z= 116.4mm grav_b=(+0.00,+0.05,-1.00) r=0.82m +[headless_play] t= 15.90s step= 795 trunk_z= 121.2mm grav_b=(-0.02,+0.03,-1.00) r=0.82m +[headless_play] t= 16.00s step= 800 trunk_z= 115.2mm grav_b=(-0.01,-0.17,-0.99) r=0.82m +[headless_play] t= 16.10s step= 805 trunk_z= 122.5mm grav_b=(+0.02,-0.07,-1.00) r=0.83m +[headless_play] t= 16.20s step= 810 trunk_z= 120.5mm grav_b=(-0.02,+0.13,-0.99) r=0.83m +[headless_play] t= 16.30s step= 815 trunk_z= 121.0mm grav_b=(+0.00,+0.03,-1.00) r=0.83m +[headless_play] t= 16.40s step= 820 trunk_z= 118.8mm grav_b=(-0.02,-0.12,-0.99) r=0.84m +[headless_play] t= 16.50s step= 825 trunk_z= 118.4mm grav_b=(-0.01,+0.05,-1.00) r=0.84m +[headless_play] t= 16.60s step= 830 trunk_z= 120.8mm grav_b=(+0.01,+0.06,-1.00) r=0.85m +[headless_play] t= 16.70s step= 835 trunk_z= 113.9mm grav_b=(+0.02,-0.15,-0.99) r=0.86m +[headless_play] t= 16.80s step= 840 trunk_z= 120.6mm grav_b=(+0.01,-0.05,-1.00) r=0.87m +[headless_play] t= 16.90s step= 845 trunk_z= 121.1mm grav_b=(-0.02,+0.12,-0.99) r=0.87m +[headless_play] t= 17.00s step= 850 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.88m +[headless_play] t= 17.10s step= 855 trunk_z= 120.4mm grav_b=(+0.02,-0.14,-0.99) r=0.89m +[headless_play] t= 17.20s step= 860 trunk_z= 120.5mm grav_b=(-0.03,-0.00,-1.00) r=0.89m +[headless_play] t= 17.30s step= 865 trunk_z= 123.3mm grav_b=(+0.01,+0.11,-0.99) r=0.89m +[headless_play] t= 17.40s step= 870 trunk_z= 118.8mm grav_b=(+0.05,-0.06,-1.00) r=0.90m +[headless_play] t= 17.50s step= 875 trunk_z= 124.1mm grav_b=(+0.10,+0.03,-0.99) r=0.90m +[headless_play] t= 17.60s step= 880 trunk_z= 104.9mm grav_b=(+0.02,+0.14,-0.99) r=0.90m +[headless_play] t= 17.70s step= 885 trunk_z= 109.7mm grav_b=(-0.19,+0.20,-0.96) r=0.91m +[headless_play] t= 17.80s step= 890 trunk_z= 105.6mm grav_b=(-0.23,+0.03,-0.97) r=0.94m +[headless_play] t= 17.90s step= 895 trunk_z= 105.6mm grav_b=(-0.03,+0.08,-1.00) r=0.97m +[headless_play] t= 18.00s step= 900 trunk_z= 106.0mm grav_b=(+0.09,+0.22,-0.97) r=0.96m +[headless_play] t= 18.10s step= 905 trunk_z= 122.9mm grav_b=(-0.01,+0.16,-0.99) r=0.95m +[headless_play] t= 18.20s step= 910 trunk_z= 120.4mm grav_b=(+0.02,+0.00,-1.00) r=0.95m +[headless_play] t= 18.30s step= 915 trunk_z= 125.0mm grav_b=(-0.00,-0.03,-1.00) r=0.96m +[headless_play] t= 18.40s step= 920 trunk_z= 119.6mm grav_b=(-0.03,+0.11,-0.99) r=0.97m +[headless_play] t= 18.50s step= 925 trunk_z= 124.6mm grav_b=(-0.07,+0.09,-0.99) r=0.98m +[headless_play] t= 18.60s step= 930 trunk_z= 116.6mm grav_b=(-0.05,-0.09,-0.99) r=0.99m +[headless_play] t= 18.70s step= 935 trunk_z= 120.7mm grav_b=(-0.02,-0.03,-1.00) r=1.01m +[headless_play] t= 18.80s step= 940 trunk_z= 107.5mm grav_b=(-0.04,+0.23,-0.97) r=1.02m +[headless_play] t= 18.90s step= 945 trunk_z= 113.4mm grav_b=(-0.11,+0.38,-0.92) r=1.05m +[headless_play] t= 19.00s step= 950 trunk_z= 106.1mm grav_b=(-0.28,+0.28,-0.92) r=1.07m +[headless_play] t= 19.10s step= 955 trunk_z= 91.3mm grav_b=(-0.58,+0.33,-0.75) r=1.09m +[headless_play] t= 19.20s step= 960 trunk_z= 26.2mm grav_b=(-0.85,+0.34,-0.40) r=1.15m +[headless_play] RESET at t= 19.22s step= 961 (env termination, not a recovery) +[headless_play] t= 19.30s step= 965 trunk_z= 114.9mm grav_b=(-0.01,+0.02,-1.00) r=0.38m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(-0.02,+0.06,-1.00) r=0.38m +[headless_play] t= 19.50s step= 975 trunk_z= 119.1mm grav_b=(+0.02,+0.07,-1.00) r=0.39m +[headless_play] t= 19.60s step= 980 trunk_z= 118.8mm grav_b=(+0.07,+0.10,-0.99) r=0.39m +[headless_play] t= 19.70s step= 985 trunk_z= 122.4mm grav_b=(+0.14,-0.06,-0.99) r=0.39m +[headless_play] t= 19.80s step= 990 trunk_z= 109.5mm grav_b=(+0.05,-0.21,-0.98) r=0.39m +[headless_play] t= 19.90s step= 995 trunk_z= 109.6mm grav_b=(-0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 20.00s step=1000 trunk_z= 121.0mm grav_b=(-0.02,+0.08,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 120.1mm grav_b=(-0.04,-0.00,-1.00) r=0.41m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..8ec21d737cb05c29b7da670abc11c94268730e58 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,-0.00,-1.00) root_w=(-18.001,-17.793,+0.173) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.04,+0.00,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 0.80s step= 40 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 0.90s step= 45 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 2.00s step= 100 trunk_z= 117.2mm grav_b=(+0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(+0.00,+0.01,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(+0.01,+0.03,-1.00) r=0.21m +[headless_play] t= 2.60s step= 130 trunk_z= 117.9mm grav_b=(+0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 2.70s step= 135 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 2.80s step= 140 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 117.9mm grav_b=(-0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 3.00s step= 150 trunk_z= 118.0mm grav_b=(-0.00,+0.02,-1.00) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.30s step= 165 trunk_z= 117.9mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.40s step= 170 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.50s step= 175 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.20s step= 210 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.30s step= 215 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.60s step= 230 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.70s step= 235 trunk_z= 118.2mm grav_b=(-0.01,+0.02,-1.00) r=0.21m +[headless_play] t= 4.80s step= 240 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(-0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.01,+0.00,-1.00) r=0.25m +[headless_play] t= 5.10s step= 255 trunk_z= 117.7mm grav_b=(+0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 5.20s step= 260 trunk_z= 117.7mm grav_b=(+0.02,+0.00,-1.00) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(+0.03,+0.00,-1.00) r=0.27m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(+0.04,+0.00,-1.00) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(+0.04,+0.01,-1.00) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 5.90s step= 295 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.40s step= 320 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.50s step= 325 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.27m +[headless_play] t= 6.70s step= 335 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 6.80s step= 340 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 6.90s step= 345 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.00s step= 350 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.10s step= 355 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.20s step= 360 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.30s step= 365 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.40s step= 370 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 117.7mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 117.9mm grav_b=(-0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 8.10s step= 405 trunk_z= 118.3mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 119.0mm grav_b=(+0.01,+0.01,-1.00) r=0.27m +[headless_play] t= 8.30s step= 415 trunk_z= 118.7mm grav_b=(-0.00,+0.01,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 8.50s step= 425 trunk_z= 118.1mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 8.60s step= 430 trunk_z= 118.2mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 8.70s step= 435 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 8.80s step= 440 trunk_z= 118.1mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.00s step= 450 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.10s step= 455 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.20s step= 460 trunk_z= 118.3mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.30s step= 465 trunk_z= 118.3mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.40s step= 470 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 9.50s step= 475 trunk_z= 118.5mm grav_b=(-0.02,+0.02,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 121.5mm grav_b=(+0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 9.70s step= 485 trunk_z= 126.8mm grav_b=(+0.13,+0.04,-0.99) r=0.23m +[headless_play] t= 9.80s step= 490 trunk_z= 89.0mm grav_b=(-0.06,+0.17,-0.98) r=0.22m +[headless_play] t= 9.90s step= 495 trunk_z= 97.4mm grav_b=(-0.07,-0.02,-1.00) r=0.24m +[headless_play] t= 10.00s step= 500 trunk_z= 114.5mm grav_b=(+0.01,-0.03,-1.00) r=0.25m +[headless_play] t= 10.10s step= 505 trunk_z= 121.1mm grav_b=(-0.09,+0.07,-0.99) r=0.25m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(-0.03,+0.07,-1.00) r=0.26m +[headless_play] t= 10.30s step= 515 trunk_z= 119.8mm grav_b=(+0.02,+0.06,-1.00) r=0.27m +[headless_play] t= 10.40s step= 520 trunk_z= 113.7mm grav_b=(-0.02,+0.11,-0.99) r=0.27m +[headless_play] t= 10.50s step= 525 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) r=0.28m +[headless_play] t= 10.60s step= 530 trunk_z= 115.8mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 10.70s step= 535 trunk_z= 116.8mm grav_b=(-0.04,-0.01,-1.00) r=0.28m +[headless_play] t= 10.80s step= 540 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 10.90s step= 545 trunk_z= 117.1mm grav_b=(-0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 11.20s step= 560 trunk_z= 117.3mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.03,+0.00,-1.00) r=0.29m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.29m +[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(+0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 11.80s step= 590 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.10s step= 605 trunk_z= 117.4mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.20s step= 610 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.30s step= 615 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.40s step= 620 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.50s step= 625 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.60s step= 630 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.70s step= 635 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.80s step= 640 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 12.90s step= 645 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.10s step= 655 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.20s step= 660 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.60s step= 680 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.70s step= 685 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.80s step= 690 trunk_z= 117.4mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 13.90s step= 695 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.00s step= 700 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.10s step= 705 trunk_z= 117.5mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.20s step= 710 trunk_z= 117.6mm grav_b=(+0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.50s step= 725 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.60s step= 730 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 14.70s step= 735 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.30m +[headless_play] t= 14.80s step= 740 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 14.90s step= 745 trunk_z= 117.7mm grav_b=(+0.04,+0.01,-1.00) r=0.30m +[headless_play] t= 15.00s step= 750 trunk_z= 117.2mm grav_b=(+0.04,+0.02,-1.00) r=0.31m +[headless_play] t= 15.10s step= 755 trunk_z= 115.8mm grav_b=(+0.01,+0.10,-1.00) r=0.31m +[headless_play] t= 15.20s step= 760 trunk_z= 111.8mm grav_b=(+0.07,-0.02,-1.00) r=0.32m +[headless_play] t= 15.30s step= 765 trunk_z= 112.6mm grav_b=(+0.06,-0.01,-1.00) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 111.2mm grav_b=(+0.02,+0.12,-0.99) r=0.34m +[headless_play] t= 15.50s step= 775 trunk_z= 111.4mm grav_b=(+0.03,-0.06,-1.00) r=0.37m +[headless_play] t= 15.60s step= 780 trunk_z= 115.3mm grav_b=(+0.07,-0.04,-1.00) r=0.39m +[headless_play] t= 15.70s step= 785 trunk_z= 115.1mm grav_b=(-0.01,+0.06,-1.00) r=0.42m +[headless_play] t= 15.80s step= 790 trunk_z= 114.5mm grav_b=(+0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 112.0mm grav_b=(+0.07,-0.06,-1.00) r=0.47m +[headless_play] t= 16.00s step= 800 trunk_z= 109.0mm grav_b=(+0.03,+0.08,-1.00) r=0.49m +[headless_play] t= 16.10s step= 805 trunk_z= 113.5mm grav_b=(+0.04,+0.05,-1.00) r=0.51m +[headless_play] t= 16.20s step= 810 trunk_z= 110.8mm grav_b=(+0.04,-0.09,-1.00) r=0.53m +[headless_play] t= 16.30s step= 815 trunk_z= 112.3mm grav_b=(+0.09,+0.03,-1.00) r=0.55m +[headless_play] t= 16.40s step= 820 trunk_z= 114.1mm grav_b=(+0.13,+0.11,-0.98) r=0.57m +[headless_play] t= 16.50s step= 825 trunk_z= 116.6mm grav_b=(+0.09,-0.04,-1.00) r=0.58m +[headless_play] t= 16.60s step= 830 trunk_z= 124.2mm grav_b=(+0.03,-0.05,-1.00) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.03,+0.11,-0.99) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 121.7mm grav_b=(-0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 16.90s step= 845 trunk_z= 115.5mm grav_b=(+0.06,-0.08,-1.00) r=0.68m +[headless_play] t= 17.00s step= 850 trunk_z= 114.0mm grav_b=(+0.08,+0.06,-1.00) r=0.70m +[headless_play] t= 17.10s step= 855 trunk_z= 119.8mm grav_b=(+0.07,+0.12,-0.99) r=0.72m +[headless_play] t= 17.20s step= 860 trunk_z= 117.0mm grav_b=(+0.09,-0.01,-1.00) r=0.74m +[headless_play] t= 17.30s step= 865 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=0.76m +[headless_play] t= 17.40s step= 870 trunk_z= 115.9mm grav_b=(-0.02,+0.15,-0.99) r=0.78m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(+0.02,+0.04,-1.00) r=0.80m +[headless_play] t= 17.60s step= 880 trunk_z= 115.6mm grav_b=(+0.04,-0.03,-1.00) r=0.82m +[headless_play] t= 17.70s step= 885 trunk_z= 112.3mm grav_b=(+0.05,+0.11,-0.99) r=0.84m +[headless_play] t= 17.80s step= 890 trunk_z= 114.8mm grav_b=(+0.07,+0.03,-1.00) r=0.86m +[headless_play] t= 17.90s step= 895 trunk_z= 112.3mm grav_b=(+0.08,-0.04,-1.00) r=0.88m +[headless_play] t= 18.00s step= 900 trunk_z= 112.7mm grav_b=(+0.01,+0.14,-0.99) r=0.90m +[headless_play] t= 18.10s step= 905 trunk_z= 114.1mm grav_b=(+0.04,+0.02,-1.00) r=0.92m +[headless_play] t= 18.20s step= 910 trunk_z= 114.0mm grav_b=(+0.07,-0.02,-1.00) r=0.95m +[headless_play] t= 18.30s step= 915 trunk_z= 114.5mm grav_b=(+0.03,+0.16,-0.99) r=0.97m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(+0.05,+0.02,-1.00) r=0.99m +[headless_play] t= 18.50s step= 925 trunk_z= 114.8mm grav_b=(+0.05,+0.03,-1.00) r=1.02m +[headless_play] t= 18.60s step= 930 trunk_z= 115.2mm grav_b=(+0.03,+0.14,-0.99) r=1.04m +[headless_play] t= 18.70s step= 935 trunk_z= 115.3mm grav_b=(+0.04,-0.04,-1.00) r=1.07m +[headless_play] t= 18.80s step= 940 trunk_z= 115.6mm grav_b=(+0.02,+0.06,-1.00) r=1.09m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(+0.05,+0.08,-1.00) r=1.12m +[headless_play] t= 19.00s step= 950 trunk_z= 114.6mm grav_b=(+0.04,-0.09,-0.99) r=1.14m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.00,+0.07,-1.00) r=1.17m +[headless_play] t= 19.20s step= 960 trunk_z= 120.8mm grav_b=(+0.05,+0.09,-0.99) r=1.19m +[headless_play] t= 19.30s step= 965 trunk_z= 115.8mm grav_b=(+0.04,-0.09,-0.99) r=1.22m +[headless_play] t= 19.40s step= 970 trunk_z= 116.4mm grav_b=(+0.01,+0.05,-1.00) r=1.26m +[headless_play] t= 19.50s step= 975 trunk_z= 117.8mm grav_b=(+0.06,-0.01,-1.00) r=1.30m +[headless_play] t= 19.60s step= 980 trunk_z= 96.2mm grav_b=(-0.05,-0.23,-0.97) r=1.34m +[headless_play] t= 19.70s step= 985 trunk_z= 103.5mm grav_b=(+0.05,-0.26,-0.96) r=1.38m +[headless_play] t= 19.80s step= 990 trunk_z= 105.8mm grav_b=(+0.11,-0.19,-0.98) r=1.41m +[headless_play] t= 19.90s step= 995 trunk_z= 88.0mm grav_b=(-0.00,-0.04,-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= 123.8mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..81e9f69cd59083a6b73a98eed579a6792bb9d214 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t7.log @@ -0,0 +1,212 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.4mm grav_b=(-0.00,-0.00,-1.00) root_w=(-14.338,-17.581,+0.200) +[headless_play] t= 0.00s step= 0 trunk_z= 122.8mm grav_b=(-0.01,+0.00,-1.00) r=0.54m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.03,+0.03,-1.00) r=0.54m +[headless_play] t= 0.20s step= 10 trunk_z= 117.3mm grav_b=(+0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(+0.05,+0.03,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 115.0mm grav_b=(+0.12,+0.11,-0.99) r=0.56m +[headless_play] t= 0.50s step= 25 trunk_z= 119.5mm grav_b=(+0.01,-0.09,-1.00) r=0.56m +[headless_play] t= 0.60s step= 30 trunk_z= 118.8mm grav_b=(-0.06,-0.14,-0.99) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.01,+0.06,-1.00) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 121.2mm grav_b=(+0.02,+0.07,-1.00) r=0.61m +[headless_play] t= 0.90s step= 45 trunk_z= 114.1mm grav_b=(+0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 1.00s step= 50 trunk_z= 113.7mm grav_b=(+0.04,+0.02,-1.00) r=0.64m +[headless_play] t= 1.10s step= 55 trunk_z= 113.4mm grav_b=(+0.09,+0.13,-0.99) r=0.65m +[headless_play] t= 1.20s step= 60 trunk_z= 118.8mm grav_b=(+0.06,+0.04,-1.00) r=0.67m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(+0.01,-0.06,-1.00) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(+0.01,+0.08,-1.00) r=0.70m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(+0.08,+0.09,-0.99) r=0.72m +[headless_play] t= 1.60s step= 80 trunk_z= 119.6mm grav_b=(+0.03,-0.02,-1.00) r=0.74m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(-0.02,-0.01,-1.00) r=0.76m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.07,+0.12,-0.99) r=0.79m +[headless_play] t= 1.90s step= 95 trunk_z= 124.3mm grav_b=(+0.09,+0.04,-1.00) r=0.81m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(-0.03,-0.13,-0.99) r=0.83m +[headless_play] t= 2.10s step= 105 trunk_z= 122.8mm grav_b=(-0.04,-0.04,-1.00) r=0.85m +[headless_play] t= 2.20s step= 110 trunk_z= 121.4mm grav_b=(+0.01,+0.13,-0.99) r=0.88m +[headless_play] t= 2.30s step= 115 trunk_z= 120.8mm grav_b=(+0.03,+0.06,-1.00) r=0.90m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.01,-0.07,-1.00) r=0.92m +[headless_play] t= 2.50s step= 125 trunk_z= 114.9mm grav_b=(+0.04,+0.06,-1.00) r=0.94m +[headless_play] t= 2.60s step= 130 trunk_z= 117.9mm grav_b=(+0.10,+0.14,-0.99) r=0.95m +[headless_play] t= 2.70s step= 135 trunk_z= 122.2mm grav_b=(+0.06,+0.04,-1.00) r=0.97m +[headless_play] t= 2.80s step= 140 trunk_z= 122.5mm grav_b=(-0.03,-0.05,-1.00) r=0.99m +[headless_play] t= 2.90s step= 145 trunk_z= 117.1mm grav_b=(-0.03,+0.11,-0.99) r=1.01m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(+0.07,+0.09,-0.99) r=1.04m +[headless_play] t= 3.10s step= 155 trunk_z= 119.7mm grav_b=(+0.02,-0.03,-1.00) r=1.06m +[headless_play] t= 3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.04,-0.03,-1.00) r=1.08m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(+0.05,+0.12,-0.99) r=1.10m +[headless_play] t= 3.40s step= 170 trunk_z= 123.4mm grav_b=(+0.05,+0.03,-1.00) r=1.13m +[headless_play] t= 3.50s step= 175 trunk_z= 118.7mm grav_b=(-0.01,-0.10,-0.99) r=1.15m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(-0.01,+0.09,-1.00) r=1.17m +[headless_play] t= 3.70s step= 185 trunk_z= 109.2mm grav_b=(-0.12,+0.31,-0.94) r=1.20m +[headless_play] t= 3.80s step= 190 trunk_z= 110.7mm grav_b=(-0.14,+0.23,-0.96) r=1.23m +[headless_play] t= 3.90s step= 195 trunk_z= 95.2mm grav_b=(-0.18,+0.22,-0.96) r=1.25m +[headless_play] t= 4.00s step= 200 trunk_z= 65.9mm grav_b=(-0.39,+0.27,-0.88) r=1.26m +[headless_play] RESET at t= 4.10s step= 205 (env termination, not a recovery) +[headless_play] t= 4.10s step= 205 trunk_z= 129.6mm grav_b=(+0.00,+0.00,-1.00) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.01,+0.03,-1.00) r=0.37m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(+0.02,+0.01,-1.00) r=0.37m +[headless_play] t= 4.40s step= 220 trunk_z= 116.1mm grav_b=(+0.05,-0.02,-1.00) r=0.38m +[headless_play] t= 4.50s step= 225 trunk_z= 114.4mm grav_b=(-0.00,+0.09,-1.00) r=0.39m +[headless_play] t= 4.60s step= 230 trunk_z= 114.8mm grav_b=(+0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 112.0mm grav_b=(+0.04,-0.05,-1.00) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 113.1mm grav_b=(+0.07,+0.01,-1.00) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 115.5mm grav_b=(+0.07,+0.13,-0.99) r=0.45m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(+0.05,+0.06,-1.00) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 115.1mm grav_b=(+0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 5.20s step= 260 trunk_z= 114.6mm grav_b=(+0.06,+0.03,-1.00) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 116.2mm grav_b=(+0.09,+0.13,-0.99) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.03,+0.01,-1.00) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.02,-0.03,-1.00) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 113.1mm grav_b=(+0.02,+0.12,-0.99) r=0.55m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(+0.05,+0.07,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 113.2mm grav_b=(+0.05,-0.05,-1.00) r=0.59m +[headless_play] t= 5.90s step= 295 trunk_z= 115.5mm grav_b=(+0.06,-0.01,-1.00) r=0.61m +[headless_play] t= 6.00s step= 300 trunk_z= 118.6mm grav_b=(-0.05,+0.17,-0.98) r=0.58m +[headless_play] t= 6.10s step= 305 trunk_z= 131.6mm grav_b=(-0.10,+0.19,-0.98) r=0.55m +[headless_play] t= 6.20s step= 310 trunk_z= 104.7mm grav_b=(-0.13,+0.11,-0.98) r=0.52m +[headless_play] t= 6.30s step= 315 trunk_z= 78.8mm grav_b=(-0.09,+0.38,-0.92) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 83.8mm grav_b=(-0.65,+0.32,-0.69) r=0.48m +[headless_play] RESET at t= 6.50s step= 325 (env termination, not a recovery) +[headless_play] t= 6.50s step= 325 trunk_z= 121.0mm grav_b=(-0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 6.60s step= 330 trunk_z= 116.3mm grav_b=(-0.00,+0.01,-1.00) r=0.22m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(+0.02,+0.01,-1.00) r=0.22m +[headless_play] t= 6.80s step= 340 trunk_z= 117.9mm grav_b=(+0.05,+0.04,-1.00) r=0.23m +[headless_play] t= 6.90s step= 345 trunk_z= 119.3mm grav_b=(+0.05,+0.04,-1.00) r=0.24m +[headless_play] t= 7.00s step= 350 trunk_z= 119.7mm grav_b=(+0.02,-0.07,-1.00) r=0.25m +[headless_play] t= 7.10s step= 355 trunk_z= 117.0mm grav_b=(-0.03,+0.08,-1.00) r=0.26m +[headless_play] t= 7.20s step= 360 trunk_z= 120.6mm grav_b=(-0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 121.0mm grav_b=(+0.00,-0.07,-1.00) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 118.2mm grav_b=(-0.01,+0.09,-1.00) r=0.30m +[headless_play] t= 7.50s step= 375 trunk_z= 121.5mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 121.8mm grav_b=(-0.01,-0.11,-0.99) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 118.8mm grav_b=(-0.01,+0.02,-1.00) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 122.4mm grav_b=(-0.00,+0.04,-1.00) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 119.2mm grav_b=(-0.01,-0.12,-0.99) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 120.5mm grav_b=(-0.00,-0.05,-1.00) r=0.39m +[headless_play] t= 8.10s step= 405 trunk_z= 121.9mm grav_b=(-0.02,+0.09,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 120.5mm grav_b=(-0.03,-0.04,-1.00) r=0.43m +[headless_play] t= 8.30s step= 415 trunk_z= 123.2mm grav_b=(+0.01,-0.09,-1.00) r=0.45m +[headless_play] t= 8.40s step= 420 trunk_z= 116.6mm grav_b=(-0.01,+0.08,-1.00) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 122.7mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 120.4mm grav_b=(-0.01,-0.12,-0.99) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 118.5mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 8.80s step= 440 trunk_z= 123.2mm grav_b=(-0.01,+0.09,-1.00) r=0.53m +[headless_play] t= 8.90s step= 445 trunk_z= 119.6mm grav_b=(-0.01,-0.05,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 124.1mm grav_b=(+0.01,-0.10,-0.99) r=0.56m +[headless_play] t= 9.10s step= 455 trunk_z= 115.8mm grav_b=(-0.01,+0.07,-1.00) r=0.58m +[headless_play] t= 9.20s step= 460 trunk_z= 123.2mm grav_b=(+0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 9.30s step= 465 trunk_z= 118.2mm grav_b=(+0.02,-0.15,-0.99) r=0.61m +[headless_play] t= 9.40s step= 470 trunk_z= 124.2mm grav_b=(-0.00,-0.07,-1.00) r=0.62m +[headless_play] t= 9.50s step= 475 trunk_z= 119.9mm grav_b=(-0.02,+0.10,-1.00) r=0.64m +[headless_play] t= 9.60s step= 480 trunk_z= 121.1mm grav_b=(-0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 9.70s step= 485 trunk_z= 123.5mm grav_b=(+0.02,-0.13,-0.99) r=0.67m +[headless_play] t= 9.80s step= 490 trunk_z= 118.9mm grav_b=(+0.03,-0.02,-1.00) r=0.68m +[headless_play] t= 9.90s step= 495 trunk_z= 118.0mm grav_b=(-0.00,+0.01,-1.00) r=0.69m +[headless_play] t= 10.00s step= 500 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.30s step= 515 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.40s step= 520 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.60s step= 530 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.70s step= 535 trunk_z= 117.8mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 10.80s step= 540 trunk_z= 117.7mm grav_b=(-0.00,-0.01,-1.00) r=0.69m +[headless_play] t= 10.90s step= 545 trunk_z= 117.8mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 11.00s step= 550 trunk_z= 117.9mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 11.30s step= 565 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 11.40s step= 570 trunk_z= 117.9mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 11.70s step= 585 trunk_z= 117.4mm grav_b=(+0.02,+0.00,-1.00) r=0.71m +[headless_play] t= 11.80s step= 590 trunk_z= 117.1mm grav_b=(+0.02,+0.01,-1.00) r=0.71m +[headless_play] t= 11.90s step= 595 trunk_z= 117.1mm grav_b=(+0.01,+0.01,-1.00) r=0.71m +[headless_play] t= 12.00s step= 600 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.71m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.20s step= 610 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 116.9mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.71m +[headless_play] t= 12.70s step= 635 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 12.90s step= 645 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=0.71m +[headless_play] t= 13.00s step= 650 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=0.71m +[headless_play] t= 13.20s step= 660 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 13.30s step= 665 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.71m +[headless_play] t= 13.50s step= 675 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=0.72m +[headless_play] t= 13.60s step= 680 trunk_z= 118.8mm grav_b=(+0.02,+0.00,-1.00) r=0.72m +[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(+0.04,+0.02,-1.00) r=0.72m +[headless_play] t= 13.80s step= 690 trunk_z= 117.7mm grav_b=(+0.03,+0.06,-1.00) r=0.73m +[headless_play] t= 13.90s step= 695 trunk_z= 116.0mm grav_b=(+0.03,-0.03,-1.00) r=0.74m +[headless_play] t= 14.00s step= 700 trunk_z= 114.9mm grav_b=(+0.01,+0.07,-1.00) r=0.75m +[headless_play] t= 14.10s step= 705 trunk_z= 115.1mm grav_b=(+0.05,+0.02,-1.00) r=0.77m +[headless_play] t= 14.20s step= 710 trunk_z= 114.1mm grav_b=(+0.05,+0.02,-1.00) r=0.78m +[headless_play] t= 14.30s step= 715 trunk_z= 114.8mm grav_b=(+0.04,+0.09,-1.00) r=0.80m +[headless_play] t= 14.40s step= 720 trunk_z= 112.0mm grav_b=(+0.06,-0.06,-1.00) r=0.81m +[headless_play] t= 14.50s step= 725 trunk_z= 114.3mm grav_b=(+0.00,+0.08,-1.00) r=0.82m +[headless_play] t= 14.60s step= 730 trunk_z= 116.3mm grav_b=(+0.04,+0.06,-1.00) r=0.84m +[headless_play] t= 14.70s step= 735 trunk_z= 114.1mm grav_b=(+0.05,-0.05,-1.00) r=0.85m +[headless_play] t= 14.80s step= 740 trunk_z= 114.7mm grav_b=(+0.02,+0.12,-0.99) r=0.87m +[headless_play] t= 14.90s step= 745 trunk_z= 115.3mm grav_b=(+0.06,+0.02,-1.00) r=0.88m +[headless_play] t= 15.00s step= 750 trunk_z= 114.8mm grav_b=(+0.06,-0.00,-1.00) r=0.90m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(+0.07,+0.14,-0.99) r=0.93m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(+0.18,+0.01,-0.98) r=0.97m +[headless_play] t= 15.30s step= 765 trunk_z= 104.0mm grav_b=(+0.03,-0.03,-1.00) r=1.01m +[headless_play] t= 15.40s step= 770 trunk_z= 116.0mm grav_b=(+0.05,+0.07,-1.00) r=1.05m +[headless_play] t= 15.50s step= 775 trunk_z= 123.1mm grav_b=(+0.02,+0.13,-0.99) r=1.08m +[headless_play] t= 15.60s step= 780 trunk_z= 125.2mm grav_b=(-0.02,+0.02,-1.00) r=1.12m +[headless_play] t= 15.70s step= 785 trunk_z= 120.2mm grav_b=(-0.05,-0.05,-1.00) r=1.16m +[headless_play] t= 15.80s step= 790 trunk_z= 119.8mm grav_b=(+0.01,+0.06,-1.00) r=1.18m +[headless_play] t= 15.90s step= 795 trunk_z= 103.1mm grav_b=(-0.05,+0.27,-0.96) r=1.21m +[headless_play] t= 16.00s step= 800 trunk_z= 113.1mm grav_b=(-0.16,+0.30,-0.94) r=1.22m +[headless_play] t= 16.10s step= 805 trunk_z= 101.7mm grav_b=(-0.35,+0.05,-0.94) r=1.22m +[headless_play] t= 16.20s step= 810 trunk_z= 92.2mm grav_b=(-0.49,+0.13,-0.86) r=1.21m +[headless_play] t= 16.30s step= 815 trunk_z= 57.5mm grav_b=(-0.80,-0.23,-0.55) r=1.21m +[headless_play] RESET at t= 16.34s step= 817 (env termination, not a recovery) +[headless_play] t= 16.40s step= 820 trunk_z= 115.1mm grav_b=(+0.00,+0.00,-1.00) r=0.29m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.05,+0.03,-1.00) r=0.28m +[headless_play] t= 16.60s step= 830 trunk_z= 115.8mm grav_b=(+0.06,-0.03,-1.00) r=0.28m +[headless_play] t= 16.70s step= 835 trunk_z= 115.3mm grav_b=(+0.04,-0.02,-1.00) r=0.28m +[headless_play] t= 16.80s step= 840 trunk_z= 114.3mm grav_b=(+0.01,+0.02,-1.00) r=0.27m +[headless_play] t= 16.90s step= 845 trunk_z= 115.1mm grav_b=(+0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 17.00s step= 850 trunk_z= 103.1mm grav_b=(+0.08,-0.15,-0.99) r=0.26m +[headless_play] t= 17.10s step= 855 trunk_z= 111.2mm grav_b=(+0.13,-0.03,-0.99) r=0.26m +[headless_play] t= 17.20s step= 860 trunk_z= 115.1mm grav_b=(+0.07,+0.06,-1.00) r=0.25m +[headless_play] t= 17.30s step= 865 trunk_z= 111.6mm grav_b=(+0.03,-0.07,-1.00) r=0.25m +[headless_play] t= 17.40s step= 870 trunk_z= 114.6mm grav_b=(+0.07,-0.06,-1.00) r=0.25m +[headless_play] t= 17.50s step= 875 trunk_z= 112.6mm grav_b=(+0.07,+0.05,-1.00) r=0.24m +[headless_play] t= 17.60s step= 880 trunk_z= 113.6mm grav_b=(+0.06,-0.03,-1.00) r=0.24m +[headless_play] t= 17.70s step= 885 trunk_z= 112.1mm grav_b=(+0.06,-0.14,-0.99) r=0.24m +[headless_play] t= 17.80s step= 890 trunk_z= 112.6mm grav_b=(+0.11,-0.06,-0.99) r=0.24m +[headless_play] t= 17.90s step= 895 trunk_z= 114.9mm grav_b=(+0.07,+0.02,-1.00) r=0.23m +[headless_play] t= 18.00s step= 900 trunk_z= 111.2mm grav_b=(+0.01,-0.10,-0.99) r=0.22m +[headless_play] t= 18.10s step= 905 trunk_z= 113.4mm grav_b=(+0.08,-0.10,-0.99) r=0.22m +[headless_play] t= 18.20s step= 910 trunk_z= 110.8mm grav_b=(+0.10,+0.04,-0.99) r=0.21m +[headless_play] t= 18.30s step= 915 trunk_z= 113.9mm grav_b=(+0.06,-0.02,-1.00) r=0.21m +[headless_play] t= 18.40s step= 920 trunk_z= 110.6mm grav_b=(+0.04,-0.12,-0.99) r=0.21m +[headless_play] t= 18.50s step= 925 trunk_z= 111.9mm grav_b=(+0.10,-0.06,-0.99) r=0.21m +[headless_play] t= 18.60s step= 930 trunk_z= 113.0mm grav_b=(+0.07,+0.05,-1.00) r=0.21m +[headless_play] t= 18.70s step= 935 trunk_z= 112.7mm grav_b=(+0.08,-0.04,-1.00) r=0.21m +[headless_play] t= 18.80s step= 940 trunk_z= 110.4mm grav_b=(+0.09,-0.16,-0.98) r=0.22m +[headless_play] t= 18.90s step= 945 trunk_z= 113.4mm grav_b=(+0.11,-0.06,-0.99) r=0.22m +[headless_play] t= 19.00s step= 950 trunk_z= 115.2mm grav_b=(+0.05,+0.06,-1.00) r=0.22m +[headless_play] t= 19.10s step= 955 trunk_z= 115.2mm grav_b=(+0.03,-0.07,-1.00) r=0.22m +[headless_play] t= 19.20s step= 960 trunk_z= 118.7mm grav_b=(+0.07,-0.17,-0.98) r=0.22m +[headless_play] t= 19.30s step= 965 trunk_z= 119.6mm grav_b=(+0.08,-0.13,-0.99) r=0.22m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(+0.07,+0.01,-1.00) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 121.3mm grav_b=(-0.08,-0.02,-1.00) r=0.19m +[headless_play] t= 19.60s step= 980 trunk_z= 112.7mm grav_b=(-0.05,-0.18,-0.98) r=0.17m +[headless_play] t= 19.70s step= 985 trunk_z= 114.5mm grav_b=(+0.04,-0.07,-1.00) r=0.16m +[headless_play] t= 19.80s step= 990 trunk_z= 111.9mm grav_b=(+0.09,+0.03,-1.00) r=0.14m +[headless_play] t= 19.90s step= 995 trunk_z= 114.6mm grav_b=(+0.11,+0.01,-0.99) r=0.13m +[headless_play] t= 20.00s step=1000 trunk_z= 115.0mm grav_b=(+0.06,-0.12,-0.99) r=0.13m +[headless_play] t= 20.10s step=1005 trunk_z= 117.0mm grav_b=(+0.07,-0.06,-1.00) r=0.13m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..dcf23306ac9747ec9ffa302d78857538a62e2dad --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-17.652,-17.772,+0.202) +[headless_play] t= 0.00s step= 0 trunk_z= 124.1mm grav_b=(-0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(+0.05,-0.04,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 117.6mm grav_b=(+0.09,-0.03,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 119.0mm grav_b=(+0.09,-0.02,-1.00) r=0.39m +[headless_play] t= 0.50s step= 25 trunk_z= 119.3mm grav_b=(+0.09,-0.05,-0.99) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 118.1mm grav_b=(+0.07,-0.02,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 117.8mm grav_b=(+0.04,+0.02,-1.00) r=0.38m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.03,-0.06,-1.00) r=0.37m +[headless_play] t= 0.90s step= 45 trunk_z= 114.9mm grav_b=(+0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(+0.09,-0.00,-1.00) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 115.8mm grav_b=(+0.08,-0.07,-0.99) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.06,+0.05,-1.00) r=0.33m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(+0.06,-0.00,-1.00) r=0.33m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(+0.05,-0.05,-1.00) r=0.32m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.07,-0.01,-1.00) r=0.31m +[headless_play] t= 1.60s step= 80 trunk_z= 115.6mm grav_b=(+0.09,-0.08,-0.99) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.29m +[headless_play] t= 1.80s step= 90 trunk_z= 118.2mm grav_b=(+0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 116.3mm grav_b=(+0.05,-0.05,-1.00) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) r=0.27m +[headless_play] t= 2.10s step= 105 trunk_z= 115.8mm grav_b=(+0.06,-0.07,-1.00) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 116.6mm grav_b=(+0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 2.30s step= 115 trunk_z= 118.3mm grav_b=(+0.07,+0.08,-0.99) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 115.3mm grav_b=(+0.03,-0.07,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(+0.06,+0.04,-1.00) r=0.21m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.08,+0.02,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(+0.04,-0.08,-1.00) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 114.4mm grav_b=(+0.05,+0.07,-1.00) r=0.18m +[headless_play] t= 2.90s step= 145 trunk_z= 116.0mm grav_b=(+0.06,-0.04,-1.00) r=0.18m +[headless_play] t= 3.00s step= 150 trunk_z= 115.0mm grav_b=(+0.06,-0.07,-1.00) r=0.17m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.07,+0.07,-1.00) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.06,-0.03,-1.00) r=0.15m +[headless_play] t= 3.30s step= 165 trunk_z= 115.0mm grav_b=(+0.06,-0.08,-0.99) r=0.13m +[headless_play] t= 3.40s step= 170 trunk_z= 112.8mm grav_b=(+0.16,+0.12,-0.98) r=0.12m +[headless_play] t= 3.50s step= 175 trunk_z= 124.0mm grav_b=(+0.19,+0.09,-0.98) r=0.12m +[headless_play] t= 3.60s step= 180 trunk_z= 108.3mm grav_b=(+0.17,-0.01,-0.99) r=0.12m +[headless_play] t= 3.70s step= 185 trunk_z= 120.2mm grav_b=(+0.05,+0.04,-1.00) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 102.0mm grav_b=(-0.10,+0.16,-0.98) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 103.2mm grav_b=(-0.12,-0.04,-0.99) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.05,-0.09,-0.99) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.07,-0.04,-1.00) r=0.22m +[headless_play] t= 4.20s step= 210 trunk_z= 120.3mm grav_b=(-0.04,+0.10,-0.99) r=0.23m +[headless_play] t= 4.30s step= 215 trunk_z= 119.9mm grav_b=(+0.02,-0.01,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 115.4mm grav_b=(+0.07,-0.04,-1.00) r=0.24m +[headless_play] t= 4.50s step= 225 trunk_z= 113.9mm grav_b=(+0.03,+0.08,-1.00) r=0.25m +[headless_play] t= 4.60s step= 230 trunk_z= 112.6mm grav_b=(+0.04,-0.04,-1.00) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 109.1mm grav_b=(+0.09,-0.03,-1.00) r=0.26m +[headless_play] t= 4.80s step= 240 trunk_z= 106.7mm grav_b=(+0.09,+0.09,-0.99) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 110.8mm grav_b=(+0.08,+0.02,-1.00) r=0.29m +[headless_play] t= 5.00s step= 250 trunk_z= 106.5mm grav_b=(+0.07,-0.09,-0.99) r=0.29m +[headless_play] t= 5.10s step= 255 trunk_z= 109.9mm grav_b=(+0.09,+0.04,-1.00) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 108.9mm grav_b=(+0.07,+0.08,-0.99) r=0.31m +[headless_play] t= 5.30s step= 265 trunk_z= 107.6mm grav_b=(+0.07,-0.03,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 108.4mm grav_b=(+0.10,-0.03,-0.99) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 107.2mm grav_b=(+0.10,+0.07,-0.99) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 108.8mm grav_b=(+0.10,+0.04,-0.99) r=0.35m +[headless_play] t= 5.70s step= 285 trunk_z= 108.4mm grav_b=(+0.02,-0.07,-1.00) r=0.36m +[headless_play] t= 5.80s step= 290 trunk_z= 107.3mm grav_b=(+0.10,+0.09,-0.99) r=0.36m +[headless_play] t= 5.90s step= 295 trunk_z= 111.4mm grav_b=(+0.06,+0.01,-1.00) r=0.37m +[headless_play] t= 6.00s step= 300 trunk_z= 109.4mm grav_b=(+0.06,-0.05,-1.00) r=0.38m +[headless_play] t= 6.10s step= 305 trunk_z= 110.0mm grav_b=(+0.10,+0.03,-0.99) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 108.2mm grav_b=(+0.11,+0.07,-0.99) r=0.41m +[headless_play] t= 6.30s step= 315 trunk_z= 110.5mm grav_b=(+0.04,-0.06,-1.00) r=0.42m +[headless_play] t= 6.40s step= 320 trunk_z= 111.1mm grav_b=(+0.06,+0.00,-1.00) r=0.43m +[headless_play] t= 6.50s step= 325 trunk_z= 110.5mm grav_b=(+0.05,+0.07,-1.00) r=0.44m +[headless_play] t= 6.60s step= 330 trunk_z= 111.0mm grav_b=(+0.07,+0.04,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 109.6mm grav_b=(+0.10,+0.00,-1.00) r=0.46m +[headless_play] t= 6.80s step= 340 trunk_z= 109.2mm grav_b=(+0.08,-0.07,-0.99) r=0.46m +[headless_play] t= 6.90s step= 345 trunk_z= 109.8mm grav_b=(+0.11,+0.05,-0.99) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 110.4mm grav_b=(+0.09,+0.01,-1.00) r=0.48m +[headless_play] t= 7.10s step= 355 trunk_z= 106.2mm grav_b=(+0.04,-0.10,-0.99) r=0.48m +[headless_play] t= 7.20s step= 360 trunk_z= 107.9mm grav_b=(+0.11,-0.07,-0.99) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 104.9mm grav_b=(+0.14,+0.06,-0.99) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 109.8mm grav_b=(+0.09,+0.02,-1.00) r=0.52m +[headless_play] t= 7.50s step= 375 trunk_z= 106.4mm grav_b=(+0.07,-0.06,-1.00) r=0.53m +[headless_play] t= 7.60s step= 380 trunk_z= 108.8mm grav_b=(+0.08,-0.09,-0.99) r=0.54m +[headless_play] t= 7.70s step= 385 trunk_z= 114.5mm grav_b=(+0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 7.80s step= 390 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 7.90s step= 395 trunk_z= 108.9mm grav_b=(-0.02,-0.10,-0.99) r=0.55m +[headless_play] t= 8.00s step= 400 trunk_z= 107.0mm grav_b=(+0.06,-0.04,-1.00) r=0.54m +[headless_play] t= 8.10s step= 405 trunk_z= 95.2mm grav_b=(+0.24,+0.05,-0.97) r=0.53m +[headless_play] t= 8.20s step= 410 trunk_z= 102.6mm grav_b=(+0.16,-0.07,-0.99) r=0.52m +[headless_play] t= 8.30s step= 415 trunk_z= 113.8mm grav_b=(-0.08,+0.10,-0.99) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 120.8mm grav_b=(-0.02,+0.12,-0.99) r=0.50m +[headless_play] t= 8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.07,-0.04,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 111.5mm grav_b=(+0.17,-0.13,-0.98) r=0.49m +[headless_play] t= 8.70s step= 435 trunk_z= 113.1mm grav_b=(+0.10,-0.03,-0.99) r=0.50m +[headless_play] t= 8.80s step= 440 trunk_z= 114.8mm grav_b=(+0.05,+0.06,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 116.1mm grav_b=(+0.07,+0.02,-1.00) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 112.8mm grav_b=(+0.10,-0.04,-0.99) r=0.47m +[headless_play] t= 9.10s step= 455 trunk_z= 109.4mm grav_b=(+0.12,-0.08,-0.99) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 108.3mm grav_b=(+0.14,+0.05,-0.99) r=0.44m +[headless_play] t= 9.30s step= 465 trunk_z= 112.0mm grav_b=(+0.09,+0.06,-0.99) r=0.44m +[headless_play] t= 9.40s step= 470 trunk_z= 112.1mm grav_b=(+0.03,-0.02,-1.00) r=0.43m +[headless_play] t= 9.50s step= 475 trunk_z= 106.0mm grav_b=(+0.04,-0.10,-0.99) r=0.41m +[headless_play] t= 9.60s step= 480 trunk_z= 109.7mm grav_b=(+0.08,-0.01,-1.00) r=0.41m +[headless_play] t= 9.70s step= 485 trunk_z= 107.1mm grav_b=(+0.12,+0.09,-0.99) r=0.41m +[headless_play] t= 9.80s step= 490 trunk_z= 106.8mm grav_b=(+0.08,-0.02,-1.00) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 106.0mm grav_b=(+0.05,-0.08,-0.99) r=0.41m +[headless_play] t= 10.00s step= 500 trunk_z= 108.3mm grav_b=(+0.10,+0.02,-0.99) r=0.41m +[headless_play] t= 10.10s step= 505 trunk_z= 108.7mm grav_b=(+0.12,+0.06,-0.99) r=0.42m +[headless_play] t= 10.20s step= 510 trunk_z= 107.8mm grav_b=(+0.08,-0.01,-1.00) r=0.42m +[headless_play] t= 10.30s step= 515 trunk_z= 103.8mm grav_b=(+0.09,-0.11,-0.99) r=0.42m +[headless_play] t= 10.40s step= 520 trunk_z= 111.5mm grav_b=(+0.09,-0.07,-0.99) r=0.43m +[headless_play] t= 10.50s step= 525 trunk_z= 108.5mm grav_b=(+0.11,-0.01,-0.99) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 111.4mm grav_b=(+0.09,+0.03,-0.99) r=0.45m +[headless_play] t= 10.70s step= 535 trunk_z= 109.2mm grav_b=(+0.10,-0.01,-0.99) r=0.46m +[headless_play] t= 10.80s step= 540 trunk_z= 106.5mm grav_b=(+0.05,-0.08,-1.00) r=0.46m +[headless_play] t= 10.90s step= 545 trunk_z= 110.7mm grav_b=(+0.01,+0.06,-1.00) r=0.45m +[headless_play] t= 11.00s step= 550 trunk_z= 115.8mm grav_b=(+0.01,+0.05,-1.00) r=0.45m +[headless_play] t= 11.10s step= 555 trunk_z= 112.5mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 11.20s step= 560 trunk_z= 107.9mm grav_b=(+0.13,-0.04,-0.99) r=0.47m +[headless_play] t= 11.30s step= 565 trunk_z= 105.0mm grav_b=(+0.18,+0.03,-0.98) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 108.8mm grav_b=(+0.10,-0.05,-0.99) r=0.48m +[headless_play] t= 11.50s step= 575 trunk_z= 111.1mm grav_b=(+0.11,-0.08,-0.99) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 111.9mm grav_b=(+0.08,+0.05,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(+0.08,+0.05,-1.00) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 114.5mm grav_b=(+0.09,+0.01,-1.00) r=0.53m +[headless_play] t= 11.90s step= 595 trunk_z= 110.8mm grav_b=(+0.07,-0.07,-1.00) r=0.55m +[headless_play] t= 12.00s step= 600 trunk_z= 115.2mm grav_b=(+0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 12.10s step= 605 trunk_z= 114.9mm grav_b=(+0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 12.20s step= 610 trunk_z= 109.8mm grav_b=(+0.08,-0.11,-0.99) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 112.5mm grav_b=(+0.12,+0.02,-0.99) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 114.2mm grav_b=(+0.09,+0.07,-0.99) r=0.62m +[headless_play] t= 12.50s step= 625 trunk_z= 113.2mm grav_b=(+0.06,-0.01,-1.00) r=0.63m +[headless_play] t= 12.60s step= 630 trunk_z= 112.3mm grav_b=(+0.06,-0.07,-1.00) r=0.65m +[headless_play] t= 12.70s step= 635 trunk_z= 114.2mm grav_b=(+0.08,+0.01,-1.00) r=0.66m +[headless_play] t= 12.80s step= 640 trunk_z= 114.1mm grav_b=(+0.10,+0.04,-0.99) r=0.66m +[headless_play] t= 12.90s step= 645 trunk_z= 112.3mm grav_b=(+0.10,-0.02,-1.00) r=0.67m +[headless_play] t= 13.00s step= 650 trunk_z= 112.0mm grav_b=(+0.08,-0.08,-0.99) r=0.69m +[headless_play] t= 13.10s step= 655 trunk_z= 113.7mm grav_b=(+0.05,+0.05,-1.00) r=0.70m +[headless_play] t= 13.20s step= 660 trunk_z= 114.0mm grav_b=(+0.08,+0.00,-1.00) r=0.71m +[headless_play] t= 13.30s step= 665 trunk_z= 109.2mm grav_b=(+0.10,-0.10,-0.99) r=0.72m +[headless_play] t= 13.40s step= 670 trunk_z= 113.2mm grav_b=(+0.10,+0.04,-0.99) r=0.73m +[headless_play] t= 13.50s step= 675 trunk_z= 112.1mm grav_b=(+0.10,+0.07,-0.99) r=0.73m +[headless_play] t= 13.60s step= 680 trunk_z= 110.3mm grav_b=(+0.08,-0.06,-1.00) r=0.74m +[headless_play] t= 13.70s step= 685 trunk_z= 115.0mm grav_b=(+0.08,-0.04,-1.00) r=0.75m +[headless_play] t= 13.80s step= 690 trunk_z= 113.3mm grav_b=(+0.10,+0.07,-0.99) r=0.75m +[headless_play] t= 13.90s step= 695 trunk_z= 113.9mm grav_b=(+0.10,+0.00,-0.99) r=0.74m +[headless_play] t= 14.00s step= 700 trunk_z= 110.6mm grav_b=(+0.08,-0.09,-0.99) r=0.75m +[headless_play] t= 14.10s step= 705 trunk_z= 113.8mm grav_b=(+0.09,+0.01,-1.00) r=0.75m +[headless_play] t= 14.20s step= 710 trunk_z= 114.4mm grav_b=(+0.09,+0.01,-1.00) r=0.75m +[headless_play] t= 14.30s step= 715 trunk_z= 109.7mm grav_b=(+0.08,-0.08,-0.99) r=0.75m +[headless_play] t= 14.40s step= 720 trunk_z= 113.2mm grav_b=(+0.09,-0.04,-0.99) r=0.75m +[headless_play] t= 14.50s step= 725 trunk_z= 114.6mm grav_b=(+0.08,+0.06,-0.99) r=0.75m +[headless_play] t= 14.60s step= 730 trunk_z= 113.3mm grav_b=(+0.12,+0.00,-0.99) r=0.73m +[headless_play] t= 14.70s step= 735 trunk_z= 111.5mm grav_b=(+0.24,-0.03,-0.97) r=0.71m +[headless_play] t= 14.80s step= 740 trunk_z= 114.2mm grav_b=(+0.15,+0.12,-0.98) r=0.70m +[headless_play] t= 14.90s step= 745 trunk_z= 121.6mm grav_b=(+0.12,-0.01,-0.99) r=0.68m +[headless_play] t= 15.00s step= 750 trunk_z= 124.4mm grav_b=(+0.07,-0.01,-1.00) r=0.67m +[headless_play] t= 15.10s step= 755 trunk_z= 133.0mm grav_b=(-0.06,-0.01,-1.00) r=0.64m +[headless_play] t= 15.20s step= 760 trunk_z= 111.1mm grav_b=(-0.15,+0.05,-0.99) r=0.62m +[headless_play] t= 15.30s step= 765 trunk_z= 113.7mm grav_b=(-0.04,-0.12,-0.99) r=0.60m +[headless_play] t= 15.40s step= 770 trunk_z= 113.3mm grav_b=(+0.13,-0.09,-0.99) r=0.59m +[headless_play] t= 15.50s step= 775 trunk_z= 111.9mm grav_b=(+0.16,+0.05,-0.99) r=0.58m +[headless_play] t= 15.60s step= 780 trunk_z= 119.8mm grav_b=(+0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 118.8mm grav_b=(+0.07,-0.12,-0.99) r=0.55m +[headless_play] t= 15.80s step= 790 trunk_z= 112.8mm grav_b=(+0.07,+0.05,-1.00) r=0.54m +[headless_play] t= 15.90s step= 795 trunk_z= 114.8mm grav_b=(+0.08,+0.05,-1.00) r=0.53m +[headless_play] t= 16.00s step= 800 trunk_z= 112.5mm grav_b=(+0.08,-0.04,-1.00) r=0.53m +[headless_play] t= 16.10s step= 805 trunk_z= 113.4mm grav_b=(+0.07,-0.07,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 113.4mm grav_b=(+0.07,+0.06,-1.00) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 113.7mm grav_b=(+0.10,-0.01,-1.00) r=0.51m +[headless_play] t= 16.40s step= 820 trunk_z= 116.2mm grav_b=(+0.07,-0.05,-1.00) r=0.50m +[headless_play] t= 16.50s step= 825 trunk_z= 118.1mm grav_b=(+0.07,+0.05,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(+0.06,+0.04,-1.00) r=0.47m +[headless_play] t= 16.70s step= 835 trunk_z= 117.2mm grav_b=(+0.11,-0.07,-0.99) r=0.46m +[headless_play] t= 16.80s step= 840 trunk_z= 116.7mm grav_b=(+0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 16.90s step= 845 trunk_z= 122.3mm grav_b=(+0.04,+0.10,-0.99) r=0.43m +[headless_play] t= 17.00s step= 850 trunk_z= 115.6mm grav_b=(+0.09,-0.05,-0.99) r=0.41m +[headless_play] t= 17.10s step= 855 trunk_z= 117.6mm grav_b=(+0.05,+0.02,-1.00) r=0.41m +[headless_play] t= 17.20s step= 860 trunk_z= 120.2mm grav_b=(+0.04,+0.13,-0.99) r=0.39m +[headless_play] t= 17.30s step= 865 trunk_z= 118.3mm grav_b=(+0.08,+0.00,-1.00) r=0.38m +[headless_play] t= 17.40s step= 870 trunk_z= 119.2mm grav_b=(+0.06,-0.01,-1.00) r=0.37m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(+0.02,+0.16,-0.99) r=0.35m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(+0.06,+0.06,-1.00) r=0.34m +[headless_play] t= 17.70s step= 885 trunk_z= 119.1mm grav_b=(+0.07,-0.02,-1.00) r=0.33m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(+0.05,+0.12,-0.99) r=0.32m +[headless_play] t= 17.90s step= 895 trunk_z= 118.9mm grav_b=(+0.07,+0.03,-1.00) r=0.31m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(+0.07,-0.01,-1.00) r=0.29m +[headless_play] t= 18.10s step= 905 trunk_z= 117.9mm grav_b=(+0.05,+0.11,-0.99) r=0.28m +[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(+0.06,-0.03,-1.00) r=0.27m +[headless_play] t= 18.30s step= 915 trunk_z= 118.0mm grav_b=(+0.06,+0.04,-1.00) r=0.26m +[headless_play] t= 18.40s step= 920 trunk_z= 118.0mm grav_b=(+0.05,+0.04,-1.00) r=0.25m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 18.60s step= 930 trunk_z= 116.9mm grav_b=(+0.08,+0.06,-1.00) r=0.23m +[headless_play] t= 18.70s step= 935 trunk_z= 117.5mm grav_b=(+0.09,-0.03,-1.00) r=0.22m +[headless_play] t= 18.80s step= 940 trunk_z= 118.0mm grav_b=(+0.06,+0.06,-1.00) r=0.22m +[headless_play] t= 18.90s step= 945 trunk_z= 117.9mm grav_b=(+0.07,+0.04,-1.00) r=0.22m +[headless_play] t= 19.00s step= 950 trunk_z= 117.3mm grav_b=(+0.06,-0.05,-1.00) r=0.21m +[headless_play] t= 19.10s step= 955 trunk_z= 115.9mm grav_b=(-0.00,+0.11,-0.99) r=0.21m +[headless_play] t= 19.20s step= 960 trunk_z= 120.8mm grav_b=(+0.03,+0.05,-1.00) r=0.20m +[headless_play] t= 19.30s step= 965 trunk_z= 118.5mm grav_b=(+0.06,-0.07,-1.00) r=0.20m +[headless_play] t= 19.40s step= 970 trunk_z= 115.5mm grav_b=(+0.06,+0.10,-0.99) r=0.19m +[headless_play] t= 19.50s step= 975 trunk_z= 120.8mm grav_b=(+0.08,+0.09,-0.99) r=0.19m +[headless_play] t= 19.60s step= 980 trunk_z= 116.8mm grav_b=(+0.07,-0.07,-1.00) r=0.18m +[headless_play] t= 19.70s step= 985 trunk_z= 116.0mm grav_b=(+0.05,+0.09,-0.99) r=0.18m +[headless_play] t= 19.80s step= 990 trunk_z= 122.0mm grav_b=(+0.07,+0.09,-0.99) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 116.2mm grav_b=(+0.06,-0.07,-1.00) r=0.18m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..d46ceeb7035cd4404e1f7e03dc536eb209a9df16 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-a-2026-10-23/z8a-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.744,-17.842,+0.202) +[headless_play] t= 0.00s step= 0 trunk_z= 124.4mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(+0.04,+0.00,-1.00) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 114.6mm grav_b=(+0.08,-0.03,-1.00) r=0.29m +[headless_play] t= 0.40s step= 20 trunk_z= 114.8mm grav_b=(+0.01,+0.11,-0.99) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 111.8mm grav_b=(+0.06,-0.03,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 111.5mm grav_b=(+0.12,+0.01,-0.99) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 114.6mm grav_b=(+0.07,+0.08,-0.99) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 114.7mm grav_b=(+0.01,-0.07,-1.00) r=0.31m +[headless_play] t= 1.00s step= 50 trunk_z= 116.3mm grav_b=(+0.03,+0.01,-1.00) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(+0.07,+0.09,-0.99) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 108.8mm grav_b=(+0.10,-0.06,-0.99) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 114.2mm grav_b=(+0.07,+0.02,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(+0.00,+0.12,-0.99) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 112.1mm grav_b=(+0.08,-0.02,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 108.4mm grav_b=(+0.10,+0.11,-0.99) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.06,+0.03,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 112.9mm grav_b=(+0.05,-0.03,-1.00) r=0.47m +[headless_play] t= 2.00s step= 100 trunk_z= 110.0mm grav_b=(+0.05,+0.11,-0.99) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 112.7mm grav_b=(+0.07,+0.03,-1.00) r=0.51m +[headless_play] t= 2.20s step= 110 trunk_z= 110.4mm grav_b=(+0.09,-0.08,-0.99) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 112.3mm grav_b=(+0.04,+0.06,-1.00) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 119.0mm grav_b=(-0.01,+0.01,-1.00) r=0.56m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(+0.06,-0.14,-0.99) r=0.57m +[headless_play] t= 2.60s step= 130 trunk_z= 117.8mm grav_b=(+0.09,+0.00,-1.00) r=0.59m +[headless_play] t= 2.70s step= 135 trunk_z= 121.8mm grav_b=(-0.02,+0.08,-1.00) r=0.61m +[headless_play] t= 2.80s step= 140 trunk_z= 115.1mm grav_b=(-0.05,-0.11,-0.99) r=0.64m +[headless_play] t= 2.90s step= 145 trunk_z= 119.3mm grav_b=(+0.10,-0.07,-0.99) r=0.66m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.08,+0.12,-0.99) r=0.68m +[headless_play] t= 3.10s step= 155 trunk_z= 122.6mm grav_b=(-0.01,+0.00,-1.00) r=0.71m +[headless_play] t= 3.20s step= 160 trunk_z= 120.2mm grav_b=(+0.04,-0.10,-0.99) r=0.74m +[headless_play] t= 3.30s step= 165 trunk_z= 115.0mm grav_b=(+0.06,+0.05,-1.00) r=0.76m +[headless_play] t= 3.40s step= 170 trunk_z= 121.8mm grav_b=(+0.03,+0.05,-1.00) r=0.78m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.01,-0.13,-0.99) r=0.80m +[headless_play] t= 3.60s step= 180 trunk_z= 117.6mm grav_b=(+0.09,-0.03,-1.00) r=0.82m +[headless_play] t= 3.70s step= 185 trunk_z= 120.8mm grav_b=(+0.02,+0.10,-0.99) r=0.84m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(-0.05,-0.07,-1.00) r=0.86m +[headless_play] t= 3.90s step= 195 trunk_z= 120.5mm grav_b=(+0.09,-0.12,-0.99) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(+0.10,+0.05,-0.99) r=0.90m +[headless_play] t= 4.10s step= 205 trunk_z= 124.3mm grav_b=(+0.01,+0.05,-1.00) r=0.93m +[headless_play] t= 4.20s step= 210 trunk_z= 118.0mm grav_b=(-0.03,-0.12,-0.99) r=0.95m +[headless_play] t= 4.30s step= 215 trunk_z= 122.0mm grav_b=(+0.07,-0.09,-0.99) r=0.97m +[headless_play] t= 4.40s step= 220 trunk_z= 116.2mm grav_b=(+0.06,+0.09,-0.99) r=0.99m +[headless_play] t= 4.50s step= 225 trunk_z= 118.6mm grav_b=(+0.01,-0.02,-1.00) r=1.02m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(+0.07,-0.05,-1.00) r=1.05m +[headless_play] t= 4.70s step= 235 trunk_z= 101.0mm grav_b=(+0.02,+0.15,-0.99) r=1.08m +[headless_play] t= 4.80s step= 240 trunk_z= 106.4mm grav_b=(-0.04,+0.25,-0.97) r=1.11m +[headless_play] t= 4.90s step= 245 trunk_z= 106.6mm grav_b=(+0.12,+0.18,-0.98) r=1.13m +[headless_play] t= 5.00s step= 250 trunk_z= 94.2mm grav_b=(+0.16,+0.16,-0.97) r=1.16m +[headless_play] t= 5.10s step= 255 trunk_z= 86.2mm grav_b=(+0.05,+0.21,-0.98) r=1.19m +[headless_play] t= 5.20s step= 260 trunk_z= 84.7mm grav_b=(+0.33,+0.16,-0.93) r=1.21m +[headless_play] t= 5.30s step= 265 trunk_z= 47.1mm grav_b=(+0.36,-0.18,-0.92) r=1.23m +[headless_play] t= 5.40s step= 270 trunk_z= 14.0mm grav_b=(+0.25,-0.19,-0.95) r=1.23m +[headless_play] t= 5.50s step= 275 trunk_z= 55.9mm grav_b=(+0.09,-0.18,-0.98) r=1.24m +[headless_play] t= 5.60s step= 280 trunk_z= 75.8mm grav_b=(-0.16,-0.16,-0.97) r=1.25m +[headless_play] t= 5.70s step= 285 trunk_z= 68.7mm grav_b=(-0.33,-0.24,-0.91) r=1.26m +[headless_play] t= 5.80s step= 290 trunk_z= 53.2mm grav_b=(-0.35,-0.10,-0.93) r=1.28m +[headless_play] t= 5.90s step= 295 trunk_z= -11.2mm grav_b=(-0.11,+0.26,-0.96) r=1.30m +[headless_play] t= 6.00s step= 300 trunk_z= 22.5mm grav_b=(+0.12,+0.11,-0.99) r=1.31m +[headless_play] t= 6.10s step= 305 trunk_z= 49.9mm grav_b=(+0.00,-0.01,-1.00) r=1.32m +[headless_play] t= 6.20s step= 310 trunk_z= 63.1mm grav_b=(+0.02,-0.04,-1.00) r=1.33m +[headless_play] t= 6.30s step= 315 trunk_z= 67.3mm grav_b=(+0.01,-0.02,-1.00) r=1.33m +[headless_play] t= 6.40s step= 320 trunk_z= 66.5mm grav_b=(-0.01,-0.03,-1.00) r=1.34m +[headless_play] t= 6.50s step= 325 trunk_z= 66.4mm grav_b=(-0.03,-0.02,-1.00) r=1.34m +[headless_play] t= 6.60s step= 330 trunk_z= 66.9mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 6.70s step= 335 trunk_z= 67.3mm grav_b=(-0.05,+0.00,-1.00) r=1.34m +[headless_play] t= 6.80s step= 340 trunk_z= 67.4mm grav_b=(-0.04,+0.00,-1.00) r=1.34m +[headless_play] t= 6.90s step= 345 trunk_z= 67.6mm grav_b=(-0.03,+0.00,-1.00) r=1.34m +[headless_play] t= 7.00s step= 350 trunk_z= 67.7mm grav_b=(-0.03,-0.00,-1.00) r=1.34m +[headless_play] t= 7.10s step= 355 trunk_z= 67.7mm grav_b=(-0.03,-0.00,-1.00) r=1.34m +[headless_play] t= 7.20s step= 360 trunk_z= 67.7mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 7.30s step= 365 trunk_z= 67.9mm grav_b=(-0.04,+0.00,-1.00) r=1.34m +[headless_play] t= 7.40s step= 370 trunk_z= 67.9mm grav_b=(-0.04,+0.00,-1.00) r=1.34m +[headless_play] t= 7.50s step= 375 trunk_z= 68.0mm grav_b=(-0.04,+0.00,-1.00) r=1.34m +[headless_play] t= 7.60s step= 380 trunk_z= 68.1mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 7.70s step= 385 trunk_z= 68.1mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 7.80s step= 390 trunk_z= 68.1mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 7.90s step= 395 trunk_z= 68.2mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 8.00s step= 400 trunk_z= 68.2mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 8.10s step= 405 trunk_z= 68.2mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 8.20s step= 410 trunk_z= 68.2mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 8.30s step= 415 trunk_z= 68.3mm grav_b=(-0.04,-0.00,-1.00) r=1.34m +[headless_play] t= 8.40s step= 420 trunk_z= 68.4mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 8.50s step= 425 trunk_z= 68.3mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 8.60s step= 430 trunk_z= 68.3mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 8.70s step= 435 trunk_z= 68.4mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 8.80s step= 440 trunk_z= 68.4mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 8.90s step= 445 trunk_z= 68.4mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 9.00s step= 450 trunk_z= 68.4mm grav_b=(-0.05,-0.00,-1.00) r=1.34m +[headless_play] t= 9.10s step= 455 trunk_z= 68.8mm grav_b=(-0.03,-0.01,-1.00) r=1.34m +[headless_play] t= 9.20s step= 460 trunk_z= 68.4mm grav_b=(-0.03,-0.00,-1.00) r=1.34m +[headless_play] t= 9.30s step= 465 trunk_z= 68.3mm grav_b=(-0.01,-0.00,-1.00) r=1.34m +[headless_play] t= 9.40s step= 470 trunk_z= 67.5mm grav_b=(-0.02,-0.00,-1.00) r=1.34m +[headless_play] t= 9.50s step= 475 trunk_z= 67.0mm grav_b=(+0.02,-0.01,-1.00) r=1.33m +[headless_play] t= 9.60s step= 480 trunk_z= 67.1mm grav_b=(+0.05,+0.00,-1.00) r=1.33m +[headless_play] t= 9.70s step= 485 trunk_z= 67.1mm grav_b=(+0.03,-0.00,-1.00) r=1.33m +[headless_play] t= 9.80s step= 490 trunk_z= 67.2mm grav_b=(+0.01,-0.00,-1.00) r=1.33m +[headless_play] t= 9.90s step= 495 trunk_z= 67.2mm grav_b=(+0.01,-0.00,-1.00) r=1.33m +[headless_play] t= 10.00s step= 500 trunk_z= 67.2mm grav_b=(+0.02,-0.00,-1.00) r=1.33m +[headless_play] t= 10.10s step= 505 trunk_z= 67.2mm grav_b=(+0.02,-0.00,-1.00) r=1.33m +[headless_play] t= 10.20s step= 510 trunk_z= 67.2mm grav_b=(+0.02,-0.00,-1.00) r=1.33m +[headless_play] t= 10.30s step= 515 trunk_z= 67.2mm grav_b=(+0.02,-0.00,-1.00) r=1.33m +[headless_play] t= 10.40s step= 520 trunk_z= 67.2mm grav_b=(+0.03,-0.00,-1.00) r=1.33m +[headless_play] t= 10.50s step= 525 trunk_z= 67.2mm grav_b=(+0.03,-0.00,-1.00) r=1.33m +[headless_play] t= 10.60s step= 530 trunk_z= 67.1mm grav_b=(+0.02,-0.00,-1.00) r=1.34m +[headless_play] t= 10.70s step= 535 trunk_z= 67.8mm grav_b=(-0.04,-0.02,-1.00) r=1.38m +[headless_play] t= 10.80s step= 540 trunk_z= 68.1mm grav_b=(-0.05,-0.00,-1.00) r=1.40m +[headless_play] t= 10.90s step= 545 trunk_z= 69.0mm grav_b=(-0.04,+0.02,-1.00) r=1.42m +[headless_play] t= 11.00s step= 550 trunk_z= 61.1mm grav_b=(+0.06,+0.14,-0.99) r=1.43m +[headless_play] t= 11.10s step= 555 trunk_z= 63.0mm grav_b=(+0.08,-0.00,-1.00) r=1.45m +[headless_play] t= 11.20s step= 560 trunk_z= 63.1mm grav_b=(-0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 11.30s step= 565 trunk_z= 65.4mm grav_b=(-0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 11.40s step= 570 trunk_z= 66.0mm grav_b=(+0.00,+0.00,-1.00) r=1.46m +[headless_play] t= 11.50s step= 575 trunk_z= 66.4mm grav_b=(+0.04,+0.01,-1.00) r=1.46m +[headless_play] t= 11.60s step= 580 trunk_z= 66.7mm grav_b=(+0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 11.70s step= 585 trunk_z= 67.1mm grav_b=(+0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 11.80s step= 590 trunk_z= 67.3mm grav_b=(-0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 11.90s step= 595 trunk_z= 67.3mm grav_b=(+0.00,+0.00,-1.00) r=1.46m +[headless_play] t= 12.00s step= 600 trunk_z= 67.2mm grav_b=(+0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 12.10s step= 605 trunk_z= 67.3mm grav_b=(+0.01,+0.00,-1.00) r=1.46m +[headless_play] t= 12.20s step= 610 trunk_z= 67.3mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.30s step= 615 trunk_z= 67.5mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.40s step= 620 trunk_z= 67.5mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.50s step= 625 trunk_z= 67.6mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.60s step= 630 trunk_z= 67.5mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.70s step= 635 trunk_z= 67.6mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 12.80s step= 640 trunk_z= 67.6mm grav_b=(+0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 12.90s step= 645 trunk_z= 67.6mm grav_b=(+0.00,-0.00,-1.00) r=1.46m +[headless_play] t= 13.00s step= 650 trunk_z= 67.7mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 13.10s step= 655 trunk_z= 67.6mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 13.20s step= 660 trunk_z= 67.6mm grav_b=(+0.01,-0.00,-1.00) r=1.46m +[headless_play] t= 13.30s step= 665 trunk_z= 68.0mm grav_b=(+0.00,+0.00,-1.00) r=1.46m +[headless_play] t= 13.40s step= 670 trunk_z= 69.3mm grav_b=(-0.00,+0.04,-1.00) r=1.45m +[headless_play] t= 13.50s step= 675 trunk_z= 68.7mm grav_b=(+0.01,-0.03,-1.00) r=1.45m +[headless_play] t= 13.60s step= 680 trunk_z= 66.7mm grav_b=(+0.06,-0.01,-1.00) r=1.45m +[headless_play] t= 13.70s step= 685 trunk_z= 68.4mm grav_b=(+0.00,+0.09,-1.00) r=1.44m +[headless_play] t= 13.80s step= 690 trunk_z= 66.8mm grav_b=(-0.05,-0.13,-0.99) r=1.43m +[headless_play] t= 13.90s step= 695 trunk_z= 72.3mm grav_b=(+0.02,-0.11,-0.99) r=1.42m +[headless_play] t= 14.00s step= 700 trunk_z= 65.3mm grav_b=(+0.01,+0.08,-1.00) r=1.41m +[headless_play] t= 14.10s step= 705 trunk_z= 71.7mm grav_b=(+0.01,+0.02,-1.00) r=1.39m +[headless_play] t= 14.20s step= 710 trunk_z= 70.3mm grav_b=(+0.05,-0.12,-0.99) r=1.38m +[headless_play] t= 14.30s step= 715 trunk_z= 70.4mm grav_b=(+0.00,-0.01,-1.00) r=1.37m +[headless_play] t= 14.40s step= 720 trunk_z= 70.3mm grav_b=(-0.02,+0.04,-1.00) r=1.34m +[headless_play] t= 14.50s step= 725 trunk_z= 64.2mm grav_b=(+0.07,-0.07,-0.99) r=1.34m +[headless_play] t= 14.60s step= 730 trunk_z= 64.3mm grav_b=(+0.08,+0.05,-1.00) r=1.34m +[headless_play] t= 14.70s step= 735 trunk_z= 69.4mm grav_b=(+0.02,+0.04,-1.00) r=1.33m +[headless_play] t= 14.80s step= 740 trunk_z= 69.6mm grav_b=(-0.06,-0.14,-0.99) r=1.33m +[headless_play] t= 14.90s step= 745 trunk_z= 76.9mm grav_b=(+0.05,-0.13,-0.99) r=1.33m +[headless_play] t= 15.00s step= 750 trunk_z= 70.0mm grav_b=(+0.08,-0.01,-1.00) r=1.33m +[headless_play] t= 15.10s step= 755 trunk_z= 72.5mm grav_b=(+0.05,+0.03,-1.00) r=1.32m +[headless_play] t= 15.20s step= 760 trunk_z= 66.6mm grav_b=(+0.18,-0.14,-0.97) r=1.32m +[headless_play] t= 15.30s step= 765 trunk_z= 75.2mm grav_b=(+0.08,-0.06,-0.99) r=1.32m +[headless_play] t= 15.40s step= 770 trunk_z= 73.2mm grav_b=(-0.04,-0.38,-0.93) r=1.33m +[headless_play] t= 15.50s step= 775 trunk_z= 37.2mm grav_b=(+0.60,-0.34,-0.72) r=1.34m +[headless_play] t= 15.60s step= 780 trunk_z= 28.6mm grav_b=(+0.83,-0.35,-0.44) r=1.37m +[headless_play] RESET at t= 15.64s step= 782 (env termination, not a recovery) +[headless_play] t= 15.70s step= 785 trunk_z= 114.9mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 15.80s step= 790 trunk_z= 116.2mm grav_b=(+0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 15.90s step= 795 trunk_z= 116.7mm grav_b=(+0.09,+0.01,-1.00) r=0.51m +[headless_play] t= 16.00s step= 800 trunk_z= 117.2mm grav_b=(+0.10,+0.05,-0.99) r=0.52m +[headless_play] t= 16.10s step= 805 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.53m +[headless_play] t= 16.20s step= 810 trunk_z= 115.8mm grav_b=(+0.05,-0.04,-1.00) r=0.53m +[headless_play] t= 16.30s step= 815 trunk_z= 115.5mm grav_b=(+0.05,+0.10,-0.99) r=0.55m +[headless_play] t= 16.40s step= 820 trunk_z= 115.8mm grav_b=(+0.10,+0.02,-0.99) r=0.57m +[headless_play] t= 16.50s step= 825 trunk_z= 115.5mm grav_b=(+0.08,-0.07,-0.99) r=0.58m +[headless_play] t= 16.60s step= 830 trunk_z= 114.3mm grav_b=(+0.05,+0.12,-0.99) r=0.60m +[headless_play] t= 16.70s step= 835 trunk_z= 118.0mm grav_b=(+0.07,-0.01,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 117.1mm grav_b=(+0.08,-0.14,-0.99) r=0.65m +[headless_play] t= 16.90s step= 845 trunk_z= 114.4mm grav_b=(+0.08,+0.06,-0.99) r=0.67m +[headless_play] t= 17.00s step= 850 trunk_z= 122.2mm grav_b=(+0.09,+0.09,-0.99) r=0.69m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(+0.01,-0.10,-0.99) r=0.72m +[headless_play] t= 17.20s step= 860 trunk_z= 121.7mm grav_b=(+0.09,-0.12,-0.99) r=0.75m +[headless_play] t= 17.30s step= 865 trunk_z= 115.0mm grav_b=(+0.08,+0.13,-0.99) r=0.77m +[headless_play] t= 17.40s step= 870 trunk_z= 122.5mm grav_b=(+0.08,+0.04,-1.00) r=0.79m +[headless_play] t= 17.50s step= 875 trunk_z= 117.3mm grav_b=(+0.04,-0.15,-0.99) r=0.82m +[headless_play] t= 17.60s step= 880 trunk_z= 118.7mm grav_b=(+0.09,-0.07,-0.99) r=0.85m +[headless_play] t= 17.70s step= 885 trunk_z= 118.5mm grav_b=(+0.11,+0.13,-0.99) r=0.87m +[headless_play] t= 17.80s step= 890 trunk_z= 120.7mm grav_b=(+0.05,-0.02,-1.00) r=0.89m +[headless_play] t= 17.90s step= 895 trunk_z= 120.4mm grav_b=(+0.09,-0.12,-0.99) r=0.92m +[headless_play] t= 18.00s step= 900 trunk_z= 114.4mm grav_b=(+0.06,+0.09,-0.99) r=0.94m +[headless_play] t= 18.10s step= 905 trunk_z= 120.5mm grav_b=(+0.09,+0.05,-0.99) r=0.97m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(+0.05,-0.11,-0.99) r=0.99m +[headless_play] t= 18.30s step= 915 trunk_z= 116.6mm grav_b=(+0.07,+0.02,-1.00) r=1.01m +[headless_play] t= 18.40s step= 920 trunk_z= 118.9mm grav_b=(+0.07,+0.06,-1.00) r=1.04m +[headless_play] t= 18.50s step= 925 trunk_z= 114.2mm grav_b=(+0.05,-0.09,-0.99) r=1.06m +[headless_play] t= 18.60s step= 930 trunk_z= 115.6mm grav_b=(+0.08,+0.02,-1.00) r=1.08m +[headless_play] t= 18.70s step= 935 trunk_z= 119.2mm grav_b=(+0.11,+0.07,-0.99) r=1.10m +[headless_play] t= 18.80s step= 940 trunk_z= 117.0mm grav_b=(+0.04,-0.11,-0.99) r=1.13m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(+0.07,+0.02,-1.00) r=1.15m +[headless_play] t= 19.00s step= 950 trunk_z= 120.4mm grav_b=(+0.11,+0.05,-0.99) r=1.17m +[headless_play] t= 19.10s step= 955 trunk_z= 117.7mm grav_b=(+0.08,-0.11,-0.99) r=1.18m +[headless_play] t= 19.20s step= 960 trunk_z= 118.7mm grav_b=(+0.09,+0.02,-1.00) r=1.20m +[headless_play] t= 19.30s step= 965 trunk_z= 122.9mm grav_b=(+0.07,+0.04,-1.00) r=1.21m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(+0.02,-0.14,-0.99) r=1.23m +[headless_play] t= 19.50s step= 975 trunk_z= 120.8mm grav_b=(+0.03,-0.03,-1.00) r=1.24m +[headless_play] t= 19.60s step= 980 trunk_z= 120.3mm grav_b=(+0.03,+0.05,-1.00) r=1.25m +[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(+0.04,-0.04,-1.00) r=1.25m +[headless_play] t= 19.80s step= 990 trunk_z= 118.3mm grav_b=(+0.06,-0.02,-1.00) r=1.26m +[headless_play] t= 19.90s step= 995 trunk_z= 118.8mm grav_b=(+0.05,-0.02,-1.00) r=1.26m +[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(+0.04,-0.03,-1.00) r=1.25m +[headless_play] t= 20.10s step=1005 trunk_z= 117.2mm grav_b=(+0.01,-0.02,-1.00) r=1.25m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..b00887b25ffea10812f9290284fe5201a1c14f15 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.3mm grav_b=(-0.00,-0.00,-1.00) root_w=(+0.061,-0.073,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.09m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.09m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.07,-0.02,-1.00) r=0.09m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.07,-0.02,-1.00) r=0.09m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(+0.05,-0.02,-1.00) r=0.09m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.09m +[headless_play] t= 0.70s step= 35 trunk_z= 117.5mm grav_b=(+0.10,-0.01,-1.00) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 121.1mm grav_b=(+0.11,-0.02,-0.99) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 122.6mm grav_b=(+0.07,-0.07,-0.99) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 122.5mm grav_b=(+0.01,-0.00,-1.00) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 115.7mm grav_b=(-0.01,+0.05,-1.00) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 118.2mm grav_b=(+0.00,+0.03,-1.00) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(+0.02,-0.03,-1.00) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.02,-0.02,-1.00) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 116.9mm grav_b=(+0.06,-0.02,-1.00) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 113.3mm grav_b=(+0.05,+0.08,-1.00) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 111.3mm grav_b=(+0.09,-0.01,-1.00) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 113.4mm grav_b=(+0.10,-0.05,-0.99) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 114.8mm grav_b=(+0.08,-0.04,-1.00) r=0.07m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(+0.07,-0.03,-1.00) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 116.6mm grav_b=(+0.07,-0.02,-1.00) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(+0.07,-0.02,-1.00) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(+0.12,-0.04,-0.99) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 122.5mm grav_b=(+0.07,-0.01,-1.00) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(+0.08,+0.06,-1.00) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 125.9mm grav_b=(+0.06,+0.05,-1.00) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(+0.02,-0.02,-1.00) r=0.03m +[headless_play] t= 3.10s step= 155 trunk_z= 119.2mm grav_b=(-0.01,-0.01,-1.00) r=0.02m +[headless_play] t= 3.20s step= 160 trunk_z= 118.6mm grav_b=(-0.01,-0.00,-1.00) r=0.02m +[headless_play] t= 3.30s step= 165 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00) r=0.03m +[headless_play] t= 3.40s step= 170 trunk_z= 119.8mm grav_b=(+0.07,+0.00,-1.00) r=0.03m +[headless_play] t= 3.50s step= 175 trunk_z= 120.8mm grav_b=(+0.08,-0.01,-1.00) r=0.03m +[headless_play] t= 3.60s step= 180 trunk_z= 121.8mm grav_b=(+0.10,-0.01,-1.00) r=0.03m +[headless_play] t= 3.70s step= 185 trunk_z= 122.4mm grav_b=(+0.09,-0.06,-0.99) r=0.03m +[headless_play] t= 3.80s step= 190 trunk_z= 121.0mm grav_b=(+0.02,-0.01,-1.00) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 117.5mm grav_b=(-0.02,+0.05,-1.00) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(-0.00,+0.03,-1.00) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 118.6mm grav_b=(+0.08,+0.01,-1.00) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 121.6mm grav_b=(+0.11,-0.02,-0.99) r=0.07m +[headless_play] t= 4.30s step= 215 trunk_z= 121.2mm grav_b=(+0.04,-0.10,-0.99) r=0.07m +[headless_play] t= 4.40s step= 220 trunk_z= 121.9mm grav_b=(-0.00,-0.04,-1.00) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 119.1mm grav_b=(-0.01,+0.03,-1.00) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 119.1mm grav_b=(+0.02,-0.06,-1.00) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 118.9mm grav_b=(+0.04,-0.06,-1.00) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 119.2mm grav_b=(+0.05,-0.04,-1.00) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 119.5mm grav_b=(+0.06,-0.03,-1.00) r=0.10m +[headless_play] t= 5.20s step= 260 trunk_z= 119.8mm grav_b=(+0.08,-0.04,-1.00) r=0.10m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(+0.09,-0.04,-0.99) r=0.10m +[headless_play] t= 5.40s step= 270 trunk_z= 123.5mm grav_b=(+0.11,-0.03,-0.99) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 121.7mm grav_b=(+0.03,-0.01,-1.00) r=0.12m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(-0.03,+0.09,-1.00) r=0.14m +[headless_play] t= 5.70s step= 285 trunk_z= 122.0mm grav_b=(-0.03,+0.12,-0.99) r=0.16m +[headless_play] t= 5.80s step= 290 trunk_z= 128.5mm grav_b=(+0.03,+0.06,-1.00) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 120.3mm grav_b=(+0.02,-0.12,-0.99) r=0.17m +[headless_play] t= 6.00s step= 300 trunk_z= 123.1mm grav_b=(+0.03,-0.16,-0.99) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 120.0mm grav_b=(+0.02,-0.08,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 122.9mm grav_b=(+0.11,+0.04,-0.99) r=0.21m +[headless_play] t= 6.30s step= 315 trunk_z= 127.4mm grav_b=(+0.09,+0.05,-0.99) r=0.21m +[headless_play] t= 6.40s step= 320 trunk_z= 120.1mm grav_b=(+0.03,-0.04,-1.00) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 129.2mm grav_b=(+0.05,-0.08,-1.00) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 130.6mm grav_b=(+0.05,-0.08,-1.00) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(+0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 6.80s step= 340 trunk_z= 122.5mm grav_b=(+0.06,+0.01,-1.00) r=0.21m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(+0.03,-0.06,-1.00) r=0.21m +[headless_play] t= 7.00s step= 350 trunk_z= 125.5mm grav_b=(+0.07,-0.13,-0.99) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 126.0mm grav_b=(+0.05,-0.07,-1.00) r=0.22m +[headless_play] t= 7.20s step= 360 trunk_z= 122.5mm grav_b=(+0.05,+0.04,-1.00) r=0.24m +[headless_play] t= 7.30s step= 365 trunk_z= 120.6mm grav_b=(+0.09,-0.02,-1.00) r=0.25m +[headless_play] t= 7.40s step= 370 trunk_z= 121.4mm grav_b=(+0.08,-0.13,-0.99) r=0.25m +[headless_play] t= 7.50s step= 375 trunk_z= 129.2mm grav_b=(+0.08,-0.12,-0.99) r=0.26m +[headless_play] t= 7.60s step= 380 trunk_z= 113.6mm grav_b=(-0.01,+0.02,-1.00) r=0.30m +[headless_play] t= 7.70s step= 385 trunk_z= 123.3mm grav_b=(+0.06,+0.04,-1.00) r=0.31m +[headless_play] t= 7.80s step= 390 trunk_z= 122.5mm grav_b=(+0.04,+0.01,-1.00) r=0.32m +[headless_play] t= 7.90s step= 395 trunk_z= 121.2mm grav_b=(+0.05,-0.12,-0.99) r=0.32m +[headless_play] t= 8.00s step= 400 trunk_z= 128.6mm grav_b=(+0.09,-0.11,-0.99) r=0.33m +[headless_play] t= 8.10s step= 405 trunk_z= 119.0mm grav_b=(+0.05,+0.03,-1.00) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 130.8mm grav_b=(+0.06,+0.17,-0.98) r=0.40m +[headless_play] t= 8.30s step= 415 trunk_z= 132.2mm grav_b=(+0.11,+0.05,-0.99) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 122.0mm grav_b=(+0.02,-0.05,-1.00) r=0.47m +[headless_play] t= 8.50s step= 425 trunk_z= 130.2mm grav_b=(+0.07,-0.09,-0.99) r=0.51m +[headless_play] t= 8.60s step= 430 trunk_z= 136.5mm grav_b=(+0.04,-0.11,-0.99) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 131.8mm grav_b=(-0.01,-0.05,-1.00) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 130.9mm grav_b=(+0.18,-0.07,-0.98) r=0.63m +[headless_play] t= 8.90s step= 445 trunk_z= 123.2mm grav_b=(+0.12,-0.08,-0.99) r=0.68m +[headless_play] t= 9.00s step= 450 trunk_z= 116.1mm grav_b=(+0.15,+0.12,-0.98) r=0.72m +[headless_play] t= 9.10s step= 455 trunk_z= 119.4mm grav_b=(+0.19,+0.06,-0.98) r=0.76m +[headless_play] t= 9.20s step= 460 trunk_z= 123.9mm grav_b=(+0.09,+0.03,-1.00) r=0.78m +[headless_play] t= 9.30s step= 465 trunk_z= 127.2mm grav_b=(-0.01,+0.00,-1.00) r=0.79m +[headless_play] t= 9.40s step= 470 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.79m +[headless_play] t= 9.50s step= 475 trunk_z= 123.1mm grav_b=(-0.05,+0.00,-1.00) r=0.79m +[headless_play] t= 9.60s step= 480 trunk_z= 123.4mm grav_b=(+0.02,+0.09,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 126.6mm grav_b=(+0.06,+0.06,-1.00) r=0.81m +[headless_play] t= 9.80s step= 490 trunk_z= 122.1mm grav_b=(+0.05,-0.02,-1.00) r=0.82m +[headless_play] t= 9.90s step= 495 trunk_z= 128.0mm grav_b=(+0.07,-0.07,-0.99) r=0.83m +[headless_play] t= 10.00s step= 500 trunk_z= 121.9mm grav_b=(-0.02,+0.00,-1.00) r=0.85m +[headless_play] t= 10.10s step= 505 trunk_z= 124.8mm grav_b=(-0.08,+0.10,-0.99) r=0.86m +[headless_play] t= 10.20s step= 510 trunk_z= 129.2mm grav_b=(+0.00,+0.07,-1.00) r=0.87m +[headless_play] t= 10.30s step= 515 trunk_z= 123.6mm grav_b=(+0.05,-0.01,-1.00) r=0.87m +[headless_play] t= 10.40s step= 520 trunk_z= 125.8mm grav_b=(+0.08,-0.07,-0.99) r=0.88m +[headless_play] t= 10.50s step= 525 trunk_z= 124.1mm grav_b=(+0.05,-0.01,-1.00) r=0.90m +[headless_play] t= 10.60s step= 530 trunk_z= 122.4mm grav_b=(+0.04,+0.05,-1.00) r=0.92m +[headless_play] t= 10.70s step= 535 trunk_z= 125.4mm grav_b=(+0.01,+0.02,-1.00) r=0.93m +[headless_play] t= 10.80s step= 540 trunk_z= 118.8mm grav_b=(+0.01,-0.07,-1.00) r=0.93m +[headless_play] t= 10.90s step= 545 trunk_z= 125.1mm grav_b=(+0.04,-0.00,-1.00) r=0.95m +[headless_play] t= 11.00s step= 550 trunk_z= 120.3mm grav_b=(+0.04,+0.09,-1.00) r=0.98m +[headless_play] t= 11.10s step= 555 trunk_z= 127.6mm grav_b=(+0.04,+0.06,-1.00) r=0.99m +[headless_play] t= 11.20s step= 560 trunk_z= 124.6mm grav_b=(+0.02,-0.00,-1.00) r=0.99m +[headless_play] t= 11.30s step= 565 trunk_z= 123.5mm grav_b=(+0.02,-0.05,-1.00) r=0.99m +[headless_play] t= 11.40s step= 570 trunk_z= 126.0mm grav_b=(+0.02,-0.00,-1.00) r=1.01m +[headless_play] t= 11.50s step= 575 trunk_z= 120.4mm grav_b=(+0.01,+0.07,-1.00) r=1.04m +[headless_play] t= 11.60s step= 580 trunk_z= 120.8mm grav_b=(+0.06,+0.05,-1.00) r=1.04m +[headless_play] t= 11.70s step= 585 trunk_z= 119.1mm grav_b=(+0.05,-0.02,-1.00) r=1.04m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(+0.05,-0.00,-1.00) r=1.04m +[headless_play] t= 11.90s step= 595 trunk_z= 118.2mm grav_b=(+0.03,-0.00,-1.00) r=1.04m +[headless_play] t= 12.00s step= 600 trunk_z= 117.2mm grav_b=(+0.00,-0.00,-1.00) r=1.03m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(-0.00,-0.00,-1.00) r=1.03m +[headless_play] t= 12.20s step= 610 trunk_z= 118.2mm grav_b=(-0.02,-0.03,-1.00) r=1.03m +[headless_play] t= 12.30s step= 615 trunk_z= 118.1mm grav_b=(+0.00,-0.02,-1.00) r=1.03m +[headless_play] t= 12.40s step= 620 trunk_z= 117.9mm grav_b=(+0.06,-0.02,-1.00) r=1.03m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(+0.08,-0.02,-1.00) r=1.03m +[headless_play] t= 12.60s step= 630 trunk_z= 117.8mm grav_b=(+0.07,-0.01,-1.00) r=1.03m +[headless_play] t= 12.70s step= 635 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=1.03m +[headless_play] t= 12.80s step= 640 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=1.03m +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 13.00s step= 650 trunk_z= 118.0mm grav_b=(+0.01,-0.03,-1.00) r=1.03m +[headless_play] t= 13.10s step= 655 trunk_z= 117.7mm grav_b=(-0.01,-0.01,-1.00) r=1.03m +[headless_play] t= 13.20s step= 660 trunk_z= 117.6mm grav_b=(+0.05,-0.02,-1.00) r=1.03m +[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(+0.07,-0.02,-1.00) r=1.03m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=1.03m +[headless_play] t= 13.60s step= 680 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 13.70s step= 685 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 13.80s step= 690 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 13.90s step= 695 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.00s step= 700 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.10s step= 705 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.20s step= 710 trunk_z= 117.6mm grav_b=(+0.06,-0.01,-1.00) r=1.03m +[headless_play] t= 14.30s step= 715 trunk_z= 117.5mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 14.40s step= 720 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 14.50s step= 725 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.60s step= 730 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.70s step= 735 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 14.80s step= 740 trunk_z= 118.5mm grav_b=(+0.01,-0.04,-1.00) r=1.02m +[headless_play] t= 14.90s step= 745 trunk_z= 117.9mm grav_b=(+0.01,-0.02,-1.00) r=1.03m +[headless_play] t= 15.00s step= 750 trunk_z= 117.8mm grav_b=(+0.02,-0.02,-1.00) r=1.03m +[headless_play] t= 15.10s step= 755 trunk_z= 117.7mm grav_b=(+0.02,-0.02,-1.00) r=1.03m +[headless_play] t= 15.20s step= 760 trunk_z= 117.6mm grav_b=(+0.02,-0.02,-1.00) r=1.03m +[headless_play] t= 15.30s step= 765 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 15.40s step= 770 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 15.50s step= 775 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 15.60s step= 780 trunk_z= 117.8mm grav_b=(+0.05,-0.03,-1.00) r=1.03m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(+0.06,-0.02,-1.00) r=1.03m +[headless_play] t= 15.80s step= 790 trunk_z= 117.4mm grav_b=(+0.06,-0.01,-1.00) r=1.03m +[headless_play] t= 15.90s step= 795 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 16.00s step= 800 trunk_z= 117.2mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 16.10s step= 805 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(+0.05,-0.01,-1.00) r=1.03m +[headless_play] t= 16.30s step= 815 trunk_z= 119.0mm grav_b=(+0.05,-0.04,-1.00) r=1.02m +[headless_play] t= 16.40s step= 820 trunk_z= 118.1mm grav_b=(+0.05,-0.02,-1.00) r=1.02m +[headless_play] t= 16.50s step= 825 trunk_z= 117.9mm grav_b=(+0.05,-0.02,-1.00) r=1.02m +[headless_play] t= 16.60s step= 830 trunk_z= 117.7mm grav_b=(+0.05,-0.02,-1.00) r=1.02m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(+0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 16.80s step= 840 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=1.02m +[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(+0.06,+0.01,-1.00) r=1.03m +[headless_play] t= 17.00s step= 850 trunk_z= 118.8mm grav_b=(+0.10,+0.01,-1.00) r=1.03m +[headless_play] t= 17.10s step= 855 trunk_z= 119.1mm grav_b=(+0.11,-0.00,-0.99) r=1.03m +[headless_play] t= 17.20s step= 860 trunk_z= 119.2mm grav_b=(+0.11,-0.01,-0.99) r=1.03m +[headless_play] t= 17.30s step= 865 trunk_z= 120.6mm grav_b=(+0.10,-0.03,-0.99) r=1.03m +[headless_play] t= 17.40s step= 870 trunk_z= 121.9mm grav_b=(+0.05,+0.01,-1.00) r=1.04m +[headless_play] t= 17.50s step= 875 trunk_z= 121.3mm grav_b=(+0.03,+0.08,-1.00) r=1.04m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(+0.04,-0.03,-1.00) r=1.04m +[headless_play] t= 17.70s step= 885 trunk_z= 120.2mm grav_b=(+0.13,+0.02,-0.99) r=1.05m +[headless_play] t= 17.80s step= 890 trunk_z= 122.0mm grav_b=(+0.10,-0.05,-0.99) r=1.06m +[headless_play] t= 17.90s step= 895 trunk_z= 121.8mm grav_b=(-0.01,-0.12,-0.99) r=1.06m +[headless_play] t= 18.00s step= 900 trunk_z= 123.8mm grav_b=(+0.01,-0.07,-1.00) r=1.07m +[headless_play] t= 18.10s step= 905 trunk_z= 118.9mm grav_b=(+0.02,-0.00,-1.00) r=1.08m +[headless_play] t= 18.20s step= 910 trunk_z= 118.4mm grav_b=(+0.04,-0.01,-1.00) r=1.09m +[headless_play] t= 18.30s step= 915 trunk_z= 118.3mm grav_b=(+0.06,-0.02,-1.00) r=1.09m +[headless_play] t= 18.40s step= 920 trunk_z= 118.0mm grav_b=(+0.01,-0.03,-1.00) r=1.08m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.05,-0.01,-1.00) r=1.09m +[headless_play] t= 18.60s step= 930 trunk_z= 118.1mm grav_b=(+0.05,-0.01,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 117.8mm grav_b=(+0.05,-0.02,-1.00) r=1.09m +[headless_play] t= 18.80s step= 940 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=1.09m +[headless_play] t= 18.90s step= 945 trunk_z= 117.9mm grav_b=(+0.03,-0.02,-1.00) r=1.09m +[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(+0.03,-0.02,-1.00) r=1.09m +[headless_play] t= 19.10s step= 955 trunk_z= 117.7mm grav_b=(+0.03,-0.02,-1.00) r=1.09m +[headless_play] t= 19.20s step= 960 trunk_z= 118.5mm grav_b=(+0.02,-0.01,-1.00) r=1.09m +[headless_play] t= 19.30s step= 965 trunk_z= 121.9mm grav_b=(-0.02,+0.04,-1.00) r=1.09m +[headless_play] t= 19.40s step= 970 trunk_z= 118.6mm grav_b=(+0.01,+0.01,-1.00) r=1.09m +[headless_play] t= 19.50s step= 975 trunk_z= 120.6mm grav_b=(+0.05,-0.09,-1.00) r=1.09m +[headless_play] t= 19.60s step= 980 trunk_z= 120.4mm grav_b=(+0.08,-0.06,-1.00) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 118.1mm grav_b=(+0.06,+0.07,-1.00) r=1.13m +[headless_play] t= 19.80s step= 990 trunk_z= 121.4mm grav_b=(+0.06,+0.09,-0.99) r=1.15m +[headless_play] t= 19.90s step= 995 trunk_z= 117.1mm grav_b=(+0.08,+0.01,-1.00) r=1.15m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 119.6mm grav_b=(-0.01,-0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(+0.10,-0.07,-0.99) r=0.32m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..ca7a365b309ed399d95797eb7cd9893b1f093d51 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.3mm grav_b=(-0.00,-0.00,-1.00) root_w=(+0.373,+0.213,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.7mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=0.43m +[headless_play] t= 0.70s step= 35 trunk_z= 117.7mm grav_b=(-0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 120.0mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 123.1mm grav_b=(-0.03,+0.07,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 124.2mm grav_b=(-0.07,+0.16,-0.98) r=0.45m +[headless_play] t= 1.10s step= 55 trunk_z= 124.4mm grav_b=(-0.10,+0.15,-0.98) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 119.6mm grav_b=(-0.09,+0.03,-1.00) r=0.47m +[headless_play] t= 1.30s step= 65 trunk_z= 119.9mm grav_b=(-0.07,+0.00,-1.00) r=0.48m +[headless_play] t= 1.40s step= 70 trunk_z= 119.0mm grav_b=(-0.06,+0.04,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 118.9mm grav_b=(-0.06,+0.02,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 119.5mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 121.1mm grav_b=(+0.04,-0.00,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 118.2mm grav_b=(-0.13,+0.10,-0.99) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 121.5mm grav_b=(-0.12,+0.18,-0.98) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 123.6mm grav_b=(-0.07,+0.15,-0.99) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.05,+0.04,-1.00) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 118.1mm grav_b=(-0.03,+0.09,-1.00) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 115.0mm grav_b=(+0.03,+0.05,-1.00) r=0.47m +[headless_play] t= 2.50s step= 125 trunk_z= 114.8mm grav_b=(+0.05,+0.00,-1.00) r=0.47m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(-0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 117.5mm grav_b=(-0.09,+0.02,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.08,+0.02,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(-0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 119.5mm grav_b=(-0.00,+0.03,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 119.4mm grav_b=(-0.04,+0.03,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 118.9mm grav_b=(-0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 118.8mm grav_b=(-0.08,+0.02,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 118.4mm grav_b=(-0.06,+0.01,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 120.2mm grav_b=(-0.01,-0.01,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 123.0mm grav_b=(+0.01,-0.03,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 120.6mm grav_b=(-0.07,+0.04,-1.00) r=0.47m +[headless_play] t= 4.50s step= 225 trunk_z= 120.4mm grav_b=(-0.10,+0.09,-0.99) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 118.0mm grav_b=(-0.10,+0.01,-0.99) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 117.6mm grav_b=(-0.08,+0.02,-1.00) r=0.47m +[headless_play] t= 4.80s step= 240 trunk_z= 117.4mm grav_b=(-0.05,+0.02,-1.00) r=0.47m +[headless_play] t= 4.90s step= 245 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.47m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(-0.07,+0.02,-1.00) r=0.47m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(-0.08,+0.02,-1.00) r=0.47m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.47m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 5.50s step= 275 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 5.60s step= 280 trunk_z= 117.8mm grav_b=(-0.06,+0.01,-1.00) r=0.47m +[headless_play] t= 5.70s step= 285 trunk_z= 118.9mm grav_b=(-0.07,+0.05,-1.00) r=0.47m +[headless_play] t= 5.80s step= 290 trunk_z= 121.7mm grav_b=(-0.08,+0.07,-0.99) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 120.0mm grav_b=(-0.09,-0.01,-1.00) r=0.48m +[headless_play] t= 6.00s step= 300 trunk_z= 121.7mm grav_b=(-0.11,-0.01,-0.99) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 119.5mm grav_b=(-0.09,+0.11,-0.99) r=0.50m +[headless_play] t= 6.20s step= 310 trunk_z= 129.8mm grav_b=(-0.07,+0.16,-0.98) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 128.9mm grav_b=(-0.07,+0.13,-0.99) r=0.52m +[headless_play] t= 6.40s step= 320 trunk_z= 120.3mm grav_b=(-0.08,+0.03,-1.00) r=0.53m +[headless_play] t= 6.50s step= 325 trunk_z= 125.8mm grav_b=(-0.08,-0.01,-1.00) r=0.54m +[headless_play] t= 6.60s step= 330 trunk_z= 123.4mm grav_b=(-0.15,+0.00,-0.99) r=0.54m +[headless_play] t= 6.70s step= 335 trunk_z= 126.6mm grav_b=(-0.17,+0.09,-0.98) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 130.5mm grav_b=(-0.11,+0.09,-0.99) r=0.53m +[headless_play] t= 6.90s step= 345 trunk_z= 117.9mm grav_b=(-0.10,+0.01,-1.00) r=0.51m +[headless_play] t= 7.00s step= 350 trunk_z= 122.2mm grav_b=(-0.10,-0.07,-0.99) r=0.48m +[headless_play] t= 7.10s step= 355 trunk_z= 113.3mm grav_b=(-0.07,+0.02,-1.00) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 126.4mm grav_b=(-0.07,+0.10,-0.99) r=0.43m +[headless_play] t= 7.30s step= 365 trunk_z= 127.5mm grav_b=(-0.08,+0.10,-0.99) r=0.43m +[headless_play] t= 7.40s step= 370 trunk_z= 123.1mm grav_b=(-0.09,+0.03,-1.00) r=0.45m +[headless_play] t= 7.50s step= 375 trunk_z= 125.2mm grav_b=(-0.15,-0.05,-0.99) r=0.45m +[headless_play] t= 7.60s step= 380 trunk_z= 123.8mm grav_b=(-0.13,+0.01,-0.99) r=0.44m +[headless_play] t= 7.70s step= 385 trunk_z= 127.2mm grav_b=(-0.10,+0.12,-0.99) r=0.42m +[headless_play] t= 7.80s step= 390 trunk_z= 131.4mm grav_b=(-0.09,+0.15,-0.98) r=0.41m +[headless_play] t= 7.90s step= 395 trunk_z= 130.2mm grav_b=(-0.12,+0.14,-0.98) r=0.41m +[headless_play] t= 8.00s step= 400 trunk_z= 123.7mm grav_b=(-0.09,+0.03,-1.00) r=0.42m +[headless_play] t= 8.10s step= 405 trunk_z= 126.6mm grav_b=(-0.11,-0.08,-0.99) r=0.45m +[headless_play] t= 8.20s step= 410 trunk_z= 127.2mm grav_b=(-0.08,-0.11,-0.99) r=0.46m +[headless_play] t= 8.30s step= 415 trunk_z= 126.1mm grav_b=(-0.07,-0.08,-0.99) r=0.46m +[headless_play] t= 8.40s step= 420 trunk_z= 123.0mm grav_b=(-0.07,+0.03,-1.00) r=0.45m +[headless_play] t= 8.50s step= 425 trunk_z= 127.4mm grav_b=(-0.11,+0.08,-0.99) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 124.1mm grav_b=(-0.10,+0.05,-0.99) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 124.4mm grav_b=(-0.12,-0.05,-0.99) r=0.47m +[headless_play] t= 8.80s step= 440 trunk_z= 122.6mm grav_b=(-0.08,-0.00,-1.00) r=0.48m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.10,+0.06,-0.99) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 124.7mm grav_b=(-0.07,+0.04,-1.00) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 119.9mm grav_b=(-0.09,-0.07,-0.99) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 126.1mm grav_b=(-0.10,-0.06,-0.99) r=0.51m +[headless_play] t= 9.30s step= 465 trunk_z= 122.7mm grav_b=(-0.09,-0.06,-0.99) r=0.51m +[headless_play] t= 9.40s step= 470 trunk_z= 124.0mm grav_b=(-0.06,+0.07,-1.00) r=0.50m +[headless_play] t= 9.50s step= 475 trunk_z= 127.2mm grav_b=(-0.09,+0.09,-0.99) r=0.51m +[headless_play] t= 9.60s step= 480 trunk_z= 120.9mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 9.70s step= 485 trunk_z= 126.5mm grav_b=(-0.07,-0.12,-0.99) r=0.57m +[headless_play] t= 9.80s step= 490 trunk_z= 124.9mm grav_b=(-0.07,-0.07,-0.99) r=0.58m +[headless_play] t= 9.90s step= 495 trunk_z= 119.6mm grav_b=(-0.09,-0.02,-1.00) r=0.57m +[headless_play] t= 10.00s step= 500 trunk_z= 124.6mm grav_b=(-0.14,+0.01,-0.99) r=0.57m +[headless_play] t= 10.10s step= 505 trunk_z= 121.7mm grav_b=(-0.12,-0.00,-0.99) r=0.57m +[headless_play] t= 10.20s step= 510 trunk_z= 120.5mm grav_b=(-0.11,-0.07,-0.99) r=0.56m +[headless_play] t= 10.30s step= 515 trunk_z= 120.9mm grav_b=(-0.11,-0.07,-0.99) r=0.55m +[headless_play] t= 10.40s step= 520 trunk_z= 116.8mm grav_b=(-0.11,+0.02,-0.99) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 127.1mm grav_b=(-0.18,+0.09,-0.98) r=0.50m +[headless_play] t= 10.60s step= 530 trunk_z= 128.9mm grav_b=(-0.12,+0.08,-0.99) r=0.48m +[headless_play] t= 10.70s step= 535 trunk_z= 97.9mm grav_b=(-0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 10.80s step= 540 trunk_z= 105.3mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 10.90s step= 545 trunk_z= 108.3mm grav_b=(-0.05,+0.06,-1.00) r=0.44m +[headless_play] t= 11.00s step= 550 trunk_z= 122.0mm grav_b=(-0.07,+0.04,-1.00) r=0.44m +[headless_play] t= 11.10s step= 555 trunk_z= 120.9mm grav_b=(-0.11,-0.02,-0.99) r=0.45m +[headless_play] t= 11.20s step= 560 trunk_z= 122.8mm grav_b=(-0.14,-0.05,-0.99) r=0.45m +[headless_play] t= 11.30s step= 565 trunk_z= 121.2mm grav_b=(-0.12,-0.01,-0.99) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 124.0mm grav_b=(-0.12,+0.10,-0.99) r=0.43m +[headless_play] t= 11.50s step= 575 trunk_z= 128.7mm grav_b=(-0.12,+0.13,-0.99) r=0.42m +[headless_play] t= 11.60s step= 580 trunk_z= 126.5mm grav_b=(-0.09,+0.08,-0.99) r=0.41m +[headless_play] t= 11.70s step= 585 trunk_z= 117.9mm grav_b=(-0.06,-0.02,-1.00) r=0.39m +[headless_play] t= 11.80s step= 590 trunk_z= 117.6mm grav_b=(-0.07,-0.07,-0.99) r=0.38m +[headless_play] t= 11.90s step= 595 trunk_z= 115.5mm grav_b=(-0.13,-0.00,-0.99) r=0.38m +[headless_play] t= 12.00s step= 600 trunk_z= 127.2mm grav_b=(-0.08,+0.13,-0.99) r=0.38m +[headless_play] t= 12.10s step= 605 trunk_z= 131.2mm grav_b=(-0.04,+0.20,-0.98) r=0.38m +[headless_play] t= 12.20s step= 610 trunk_z= 132.0mm grav_b=(-0.06,+0.17,-0.98) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 129.0mm grav_b=(-0.10,+0.08,-0.99) r=0.42m +[headless_play] t= 12.40s step= 620 trunk_z= 125.0mm grav_b=(-0.08,+0.01,-1.00) r=0.43m +[headless_play] t= 12.50s step= 625 trunk_z= 121.4mm grav_b=(-0.11,+0.02,-0.99) r=0.43m +[headless_play] t= 12.60s step= 630 trunk_z= 126.8mm grav_b=(-0.10,+0.12,-0.99) r=0.43m +[headless_play] t= 12.70s step= 635 trunk_z= 129.6mm grav_b=(-0.02,+0.13,-0.99) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 125.7mm grav_b=(-0.10,+0.04,-0.99) r=0.48m +[headless_play] t= 12.90s step= 645 trunk_z= 126.7mm grav_b=(-0.13,-0.07,-0.99) r=0.50m +[headless_play] t= 13.00s step= 650 trunk_z= 126.5mm grav_b=(-0.12,-0.02,-0.99) r=0.51m +[headless_play] t= 13.10s step= 655 trunk_z= 123.0mm grav_b=(-0.05,+0.08,-1.00) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 127.4mm grav_b=(-0.03,+0.15,-0.99) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 126.6mm grav_b=(-0.08,+0.11,-0.99) r=0.51m +[headless_play] t= 13.40s step= 670 trunk_z= 120.7mm grav_b=(-0.07,+0.05,-1.00) r=0.51m +[headless_play] t= 13.50s step= 675 trunk_z= 118.5mm grav_b=(-0.07,+0.03,-1.00) r=0.51m +[headless_play] t= 13.60s step= 680 trunk_z= 118.5mm grav_b=(-0.07,+0.02,-1.00) r=0.51m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(-0.06,+0.02,-1.00) r=0.51m +[headless_play] t= 13.80s step= 690 trunk_z= 118.7mm grav_b=(-0.05,+0.01,-1.00) r=0.51m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(-0.06,+0.00,-1.00) r=0.51m +[headless_play] t= 14.00s step= 700 trunk_z= 119.0mm grav_b=(-0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 14.10s step= 705 trunk_z= 118.8mm grav_b=(-0.06,-0.00,-1.00) r=0.52m +[headless_play] t= 14.20s step= 710 trunk_z= 118.6mm grav_b=(-0.07,-0.00,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 118.6mm grav_b=(-0.07,-0.00,-1.00) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 118.5mm grav_b=(-0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(-0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 14.60s step= 730 trunk_z= 118.4mm grav_b=(-0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 118.4mm grav_b=(-0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 118.4mm grav_b=(-0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 119.6mm grav_b=(-0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 124.2mm grav_b=(-0.06,+0.04,-1.00) r=0.53m +[headless_play] t= 15.10s step= 755 trunk_z= 111.8mm grav_b=(-0.12,+0.16,-0.98) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 122.1mm grav_b=(-0.12,+0.20,-0.97) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 120.6mm grav_b=(-0.05,+0.11,-0.99) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 118.3mm grav_b=(-0.04,+0.06,-1.00) r=0.52m +[headless_play] t= 15.50s step= 775 trunk_z= 113.7mm grav_b=(-0.04,+0.07,-1.00) r=0.49m +[headless_play] t= 15.60s step= 780 trunk_z= 120.8mm grav_b=(-0.04,+0.09,-1.00) r=0.48m +[headless_play] t= 15.70s step= 785 trunk_z= 115.6mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 115.2mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 115.9mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 16.00s step= 800 trunk_z= 115.8mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 16.20s step= 810 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 16.30s step= 815 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 16.40s step= 820 trunk_z= 118.8mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 122.6mm grav_b=(-0.03,+0.01,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 118.4mm grav_b=(-0.12,-0.06,-0.99) r=0.50m +[headless_play] t= 16.70s step= 835 trunk_z= 122.1mm grav_b=(-0.10,+0.00,-1.00) r=0.51m +[headless_play] t= 16.80s step= 840 trunk_z= 120.3mm grav_b=(-0.08,+0.07,-0.99) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 119.1mm grav_b=(-0.05,+0.02,-1.00) r=0.51m +[headless_play] t= 17.00s step= 850 trunk_z= 118.4mm grav_b=(+0.07,-0.00,-1.00) r=0.52m +[headless_play] t= 17.10s step= 855 trunk_z= 123.8mm grav_b=(-0.07,+0.07,-0.99) r=0.52m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.05,+0.16,-0.99) r=0.52m +[headless_play] t= 17.30s step= 865 trunk_z= 123.4mm grav_b=(-0.10,+0.16,-0.98) r=0.52m +[headless_play] t= 17.40s step= 870 trunk_z= 119.3mm grav_b=(-0.06,+0.06,-1.00) r=0.53m +[headless_play] t= 17.50s step= 875 trunk_z= 119.2mm grav_b=(-0.08,+0.01,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 118.8mm grav_b=(-0.08,+0.05,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 119.1mm grav_b=(-0.10,+0.04,-0.99) r=0.53m +[headless_play] t= 17.80s step= 890 trunk_z= 119.2mm grav_b=(-0.11,+0.03,-0.99) r=0.53m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(-0.11,+0.04,-0.99) r=0.53m +[headless_play] t= 18.00s step= 900 trunk_z= 110.4mm grav_b=(-0.09,+0.08,-0.99) r=0.52m +[headless_play] t= 18.10s step= 905 trunk_z= 115.7mm grav_b=(-0.10,+0.19,-0.98) r=0.50m +[headless_play] t= 18.20s step= 910 trunk_z= 121.1mm grav_b=(-0.11,+0.12,-0.99) r=0.48m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(-0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 18.40s step= 920 trunk_z= 115.1mm grav_b=(-0.07,+0.06,-1.00) r=0.46m +[headless_play] t= 18.50s step= 925 trunk_z= 118.4mm grav_b=(-0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 18.60s step= 930 trunk_z= 117.6mm grav_b=(-0.08,-0.00,-1.00) r=0.46m +[headless_play] t= 18.70s step= 935 trunk_z= 117.6mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 18.80s step= 940 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 19.10s step= 955 trunk_z= 117.5mm grav_b=(-0.08,+0.01,-1.00) r=0.46m +[headless_play] t= 19.20s step= 960 trunk_z= 117.9mm grav_b=(-0.09,+0.00,-1.00) r=0.46m +[headless_play] t= 19.30s step= 965 trunk_z= 117.8mm grav_b=(-0.09,+0.00,-1.00) r=0.46m +[headless_play] t= 19.40s step= 970 trunk_z= 117.9mm grav_b=(-0.08,+0.00,-1.00) r=0.46m +[headless_play] t= 19.50s step= 975 trunk_z= 117.9mm grav_b=(-0.07,+0.00,-1.00) r=0.46m +[headless_play] t= 19.60s step= 980 trunk_z= 117.9mm grav_b=(-0.08,+0.00,-1.00) r=0.46m +[headless_play] t= 19.70s step= 985 trunk_z= 117.8mm grav_b=(-0.08,+0.00,-1.00) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(-0.16,+0.01,-0.99) r=0.45m +[headless_play] t= 19.90s step= 995 trunk_z= 118.2mm grav_b=(-0.15,+0.02,-0.99) r=0.44m +[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=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.04,-0.01,-1.00) r=0.46m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..3ff1c4e98d283844a03a191a8cff18a4a88dd126 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.437,+0.339,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.6mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 116.3mm grav_b=(+0.07,-0.02,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 117.6mm grav_b=(+0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.07,-0.01,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.06,-0.01,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 116.0mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 116.9mm grav_b=(-0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 117.9mm grav_b=(-0.10,-0.02,-1.00) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 112.4mm grav_b=(+0.02,+0.08,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 110.7mm grav_b=(-0.04,+0.08,-1.00) r=0.59m +[headless_play] t= 4.40s step= 220 trunk_z= 111.3mm grav_b=(+0.02,+0.03,-1.00) r=0.59m +[headless_play] t= 4.50s step= 225 trunk_z= 111.6mm grav_b=(+0.04,-0.04,-1.00) r=0.59m +[headless_play] t= 4.60s step= 230 trunk_z= 112.2mm grav_b=(+0.06,-0.04,-1.00) r=0.59m +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(+0.04,-0.02,-1.00) r=0.59m +[headless_play] t= 4.80s step= 240 trunk_z= 115.0mm grav_b=(+0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 4.90s step= 245 trunk_z= 115.4mm grav_b=(+0.00,-0.01,-1.00) r=0.60m +[headless_play] t= 5.00s step= 250 trunk_z= 115.8mm grav_b=(-0.06,-0.02,-1.00) r=0.60m +[headless_play] t= 5.10s step= 255 trunk_z= 116.7mm grav_b=(-0.07,+0.01,-1.00) r=0.61m +[headless_play] t= 5.20s step= 260 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 112.5mm grav_b=(+0.01,-0.11,-0.99) r=0.61m +[headless_play] t= 5.40s step= 270 trunk_z= 113.0mm grav_b=(+0.02,-0.11,-0.99) r=0.62m +[headless_play] t= 5.50s step= 275 trunk_z= 112.0mm grav_b=(+0.06,-0.04,-1.00) r=0.63m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(+0.06,-0.00,-1.00) r=0.63m +[headless_play] t= 5.70s step= 285 trunk_z= 115.0mm grav_b=(+0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 5.80s step= 290 trunk_z= 115.4mm grav_b=(+0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 5.90s step= 295 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.64m +[headless_play] t= 6.00s step= 300 trunk_z= 115.6mm grav_b=(+0.00,-0.02,-1.00) r=0.64m +[headless_play] t= 6.10s step= 305 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00) r=0.64m +[headless_play] t= 6.20s step= 310 trunk_z= 115.2mm grav_b=(-0.03,-0.01,-1.00) r=0.64m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 6.40s step= 320 trunk_z= 116.6mm grav_b=(+0.01,-0.00,-1.00) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00) r=0.64m +[headless_play] t= 6.60s step= 330 trunk_z= 117.5mm grav_b=(+0.02,-0.02,-1.00) r=0.64m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.00,-0.02,-1.00) r=0.64m +[headless_play] t= 6.90s step= 345 trunk_z= 116.3mm grav_b=(-0.03,-0.02,-1.00) r=0.64m +[headless_play] t= 7.00s step= 350 trunk_z= 115.3mm grav_b=(-0.07,-0.01,-1.00) r=0.65m +[headless_play] t= 7.10s step= 355 trunk_z= 115.5mm grav_b=(-0.14,-0.02,-0.99) r=0.66m +[headless_play] t= 7.20s step= 360 trunk_z= 116.0mm grav_b=(-0.11,-0.04,-0.99) r=0.66m +[headless_play] t= 7.30s step= 365 trunk_z= 115.7mm grav_b=(-0.08,-0.03,-1.00) r=0.65m +[headless_play] t= 7.40s step= 370 trunk_z= 115.4mm grav_b=(-0.06,-0.01,-1.00) r=0.65m +[headless_play] t= 7.50s step= 375 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=0.65m +[headless_play] t= 7.60s step= 380 trunk_z= 115.8mm grav_b=(+0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.64m +[headless_play] t= 7.80s step= 390 trunk_z= 117.6mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 7.90s step= 395 trunk_z= 118.7mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 8.00s step= 400 trunk_z= 120.0mm grav_b=(+0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 121.8mm grav_b=(+0.02,-0.02,-1.00) r=0.64m +[headless_play] t= 8.20s step= 410 trunk_z= 122.7mm grav_b=(+0.03,+0.02,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 123.7mm grav_b=(+0.02,-0.04,-1.00) r=0.60m +[headless_play] t= 8.40s step= 420 trunk_z= 129.8mm grav_b=(+0.01,-0.08,-1.00) r=0.57m +[headless_play] t= 8.50s step= 425 trunk_z= 130.9mm grav_b=(-0.06,-0.09,-0.99) r=0.56m +[headless_play] t= 8.60s step= 430 trunk_z= 119.1mm grav_b=(-0.05,-0.05,-1.00) r=0.55m +[headless_play] t= 8.70s step= 435 trunk_z= 117.7mm grav_b=(-0.06,-0.04,-1.00) r=0.55m +[headless_play] t= 8.80s step= 440 trunk_z= 119.7mm grav_b=(-0.01,-0.05,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 120.5mm grav_b=(+0.03,-0.06,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 121.3mm grav_b=(+0.03,-0.02,-1.00) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 121.7mm grav_b=(+0.05,-0.04,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 122.2mm grav_b=(+0.00,-0.04,-1.00) r=0.53m +[headless_play] t= 9.30s step= 465 trunk_z= 114.9mm grav_b=(-0.09,+0.06,-0.99) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 116.6mm grav_b=(-0.06,+0.02,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 120.9mm grav_b=(+0.04,-0.00,-1.00) r=0.52m +[headless_play] t= 9.60s step= 480 trunk_z= 124.9mm grav_b=(+0.07,-0.01,-1.00) r=0.51m +[headless_play] t= 9.70s step= 485 trunk_z= 124.7mm grav_b=(+0.01,-0.03,-1.00) r=0.49m +[headless_play] t= 9.80s step= 490 trunk_z= 118.7mm grav_b=(-0.04,+0.03,-1.00) r=0.48m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.07,+0.07,-0.99) r=0.46m +[headless_play] t= 10.00s step= 500 trunk_z= 115.5mm grav_b=(-0.09,+0.01,-1.00) r=0.46m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(-0.07,+0.03,-1.00) r=0.46m +[headless_play] t= 10.20s step= 510 trunk_z= 119.4mm grav_b=(-0.02,+0.02,-1.00) r=0.45m +[headless_play] t= 10.30s step= 515 trunk_z= 121.0mm grav_b=(+0.02,+0.00,-1.00) r=0.45m +[headless_play] t= 10.40s step= 520 trunk_z= 122.8mm grav_b=(+0.06,-0.02,-1.00) r=0.44m +[headless_play] t= 10.50s step= 525 trunk_z= 123.0mm grav_b=(+0.01,-0.07,-1.00) r=0.44m +[headless_play] t= 10.60s step= 530 trunk_z= 118.4mm grav_b=(-0.07,-0.02,-1.00) r=0.43m +[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(-0.10,+0.01,-1.00) r=0.42m +[headless_play] t= 10.80s step= 540 trunk_z= 115.5mm grav_b=(-0.10,-0.00,-0.99) r=0.42m +[headless_play] t= 10.90s step= 545 trunk_z= 118.6mm grav_b=(-0.06,+0.02,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 118.2mm grav_b=(-0.03,+0.01,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 117.9mm grav_b=(-0.05,-0.00,-1.00) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=0.41m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.41m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(-0.00,-0.01,-1.00) r=0.41m +[headless_play] t= 11.60s step= 580 trunk_z= 118.4mm grav_b=(+0.07,-0.01,-1.00) r=0.41m +[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(+0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 11.80s step= 590 trunk_z= 123.4mm grav_b=(+0.08,-0.05,-1.00) r=0.41m +[headless_play] t= 11.90s step= 595 trunk_z= 124.3mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(-0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 12.10s step= 605 trunk_z= 115.9mm grav_b=(-0.06,+0.03,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 12.30s step= 615 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 12.40s step= 620 trunk_z= 118.6mm grav_b=(+0.01,-0.05,-1.00) r=0.42m +[headless_play] t= 12.50s step= 625 trunk_z= 118.1mm grav_b=(+0.02,-0.03,-1.00) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 118.0mm grav_b=(+0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 12.70s step= 635 trunk_z= 117.7mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.00s step= 650 trunk_z= 118.8mm grav_b=(-0.00,-0.05,-1.00) r=0.42m +[headless_play] t= 13.10s step= 655 trunk_z= 118.5mm grav_b=(+0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 13.20s step= 660 trunk_z= 118.3mm grav_b=(+0.00,-0.02,-1.00) r=0.41m +[headless_play] t= 13.30s step= 665 trunk_z= 118.0mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 13.40s step= 670 trunk_z= 117.8mm grav_b=(-0.02,-0.02,-1.00) r=0.41m +[headless_play] t= 13.50s step= 675 trunk_z= 117.6mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.02,-0.01,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(-0.09,-0.01,-1.00) r=0.41m +[headless_play] t= 13.80s step= 690 trunk_z= 120.0mm grav_b=(-0.09,+0.04,-0.99) r=0.40m +[headless_play] t= 13.90s step= 695 trunk_z= 99.4mm grav_b=(+0.02,+0.15,-0.99) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 105.0mm grav_b=(-0.06,+0.09,-0.99) r=0.38m +[headless_play] t= 14.10s step= 705 trunk_z= 104.9mm grav_b=(+0.03,-0.01,-1.00) r=0.39m +[headless_play] t= 14.20s step= 710 trunk_z= 108.1mm grav_b=(+0.09,-0.05,-0.99) r=0.39m +[headless_play] t= 14.30s step= 715 trunk_z= 109.1mm grav_b=(+0.08,-0.04,-1.00) r=0.39m +[headless_play] t= 14.40s step= 720 trunk_z= 113.4mm grav_b=(+0.02,-0.01,-1.00) r=0.38m +[headless_play] t= 14.50s step= 725 trunk_z= 115.9mm grav_b=(-0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 14.60s step= 730 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=0.38m +[headless_play] t= 14.70s step= 735 trunk_z= 115.9mm grav_b=(-0.06,-0.00,-1.00) r=0.38m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(-0.07,+0.00,-1.00) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(-0.02,-0.00,-1.00) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(+0.00,-0.00,-1.00) r=0.38m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.38m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(+0.04,-0.00,-1.00) r=0.38m +[headless_play] t= 15.30s step= 765 trunk_z= 119.0mm grav_b=(+0.07,-0.00,-1.00) r=0.38m +[headless_play] t= 15.40s step= 770 trunk_z= 120.8mm grav_b=(+0.05,-0.02,-1.00) r=0.38m +[headless_play] t= 15.50s step= 775 trunk_z= 123.0mm grav_b=(+0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 119.8mm grav_b=(-0.05,+0.13,-0.99) r=0.37m +[headless_play] t= 15.70s step= 785 trunk_z= 126.8mm grav_b=(-0.03,+0.15,-0.99) r=0.37m +[headless_play] t= 15.80s step= 790 trunk_z= 126.2mm grav_b=(-0.04,+0.08,-1.00) r=0.38m +[headless_play] t= 15.90s step= 795 trunk_z= 120.9mm grav_b=(-0.01,-0.02,-1.00) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 124.1mm grav_b=(-0.00,-0.07,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 118.9mm grav_b=(-0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 16.20s step= 810 trunk_z= 118.7mm grav_b=(-0.12,+0.04,-0.99) r=0.40m +[headless_play] t= 16.30s step= 815 trunk_z= 121.7mm grav_b=(-0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 16.40s step= 820 trunk_z= 99.4mm grav_b=(-0.07,-0.07,-0.99) r=0.39m +[headless_play] t= 16.50s step= 825 trunk_z= 106.2mm grav_b=(+0.00,-0.04,-1.00) r=0.38m +[headless_play] t= 16.60s step= 830 trunk_z= 108.0mm grav_b=(+0.05,+0.04,-1.00) r=0.37m +[headless_play] t= 16.70s step= 835 trunk_z= 113.2mm grav_b=(+0.08,+0.06,-1.00) r=0.37m +[headless_play] t= 16.80s step= 840 trunk_z= 112.9mm grav_b=(+0.04,-0.01,-1.00) r=0.37m +[headless_play] t= 16.90s step= 845 trunk_z= 117.6mm grav_b=(-0.01,-0.10,-0.99) r=0.38m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(+0.03,-0.11,-0.99) r=0.39m +[headless_play] t= 17.10s step= 855 trunk_z= 114.1mm grav_b=(+0.03,-0.05,-1.00) r=0.37m +[headless_play] t= 17.20s step= 860 trunk_z= 119.0mm grav_b=(-0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(-0.02,+0.05,-1.00) r=0.37m +[headless_play] t= 17.40s step= 870 trunk_z= 114.1mm grav_b=(+0.01,-0.06,-1.00) r=0.38m +[headless_play] t= 17.50s step= 875 trunk_z= 116.3mm grav_b=(+0.04,-0.11,-0.99) r=0.39m +[headless_play] t= 17.60s step= 880 trunk_z= 113.9mm grav_b=(+0.02,-0.04,-1.00) r=0.37m +[headless_play] t= 17.70s step= 885 trunk_z= 115.9mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 17.80s step= 890 trunk_z= 120.6mm grav_b=(-0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(+0.01,-0.00,-1.00) r=0.37m +[headless_play] t= 18.00s step= 900 trunk_z= 113.0mm grav_b=(+0.03,-0.09,-1.00) r=0.38m +[headless_play] t= 18.10s step= 905 trunk_z= 111.4mm grav_b=(+0.07,-0.10,-0.99) r=0.38m +[headless_play] t= 18.20s step= 910 trunk_z= 111.0mm grav_b=(+0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 18.30s step= 915 trunk_z= 118.6mm grav_b=(-0.02,+0.05,-1.00) r=0.37m +[headless_play] t= 18.40s step= 920 trunk_z= 118.2mm grav_b=(-0.00,+0.01,-1.00) r=0.38m +[headless_play] t= 18.50s step= 925 trunk_z= 111.4mm grav_b=(+0.01,-0.08,-1.00) r=0.40m +[headless_play] t= 18.60s step= 930 trunk_z= 117.3mm grav_b=(-0.00,-0.15,-0.99) r=0.41m +[headless_play] t= 18.70s step= 935 trunk_z= 117.1mm grav_b=(+0.04,-0.16,-0.99) r=0.41m +[headless_play] t= 18.80s step= 940 trunk_z= 115.7mm grav_b=(+0.03,-0.10,-0.99) r=0.41m +[headless_play] t= 18.90s step= 945 trunk_z= 118.4mm grav_b=(+0.01,+0.03,-1.00) r=0.40m +[headless_play] t= 19.00s step= 950 trunk_z= 120.3mm grav_b=(-0.01,+0.05,-1.00) r=0.41m +[headless_play] t= 19.10s step= 955 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00) r=0.42m +[headless_play] t= 19.20s step= 960 trunk_z= 114.1mm grav_b=(+0.03,-0.08,-1.00) r=0.43m +[headless_play] t= 19.30s step= 965 trunk_z= 120.1mm grav_b=(-0.04,-0.15,-0.99) r=0.44m +[headless_play] t= 19.40s step= 970 trunk_z= 122.4mm grav_b=(-0.04,-0.15,-0.99) r=0.44m +[headless_play] t= 19.50s step= 975 trunk_z= 122.5mm grav_b=(-0.03,-0.14,-0.99) r=0.44m +[headless_play] t= 19.60s step= 980 trunk_z= 121.7mm grav_b=(-0.00,-0.11,-0.99) r=0.44m +[headless_play] t= 19.70s step= 985 trunk_z= 118.0mm grav_b=(+0.03,-0.10,-0.99) r=0.44m +[headless_play] t= 19.80s step= 990 trunk_z= 114.6mm grav_b=(+0.04,+0.03,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 117.3mm grav_b=(+0.03,+0.06,-1.00) r=0.44m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.9mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.03,+0.02,-1.00) r=0.29m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..9314a59d3ceb5ca238bb2cac715697bbb0d6fea5 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.470,+0.409,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.0mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.02,+0.04,-1.00) r=0.63m +[headless_play] t= 0.20s step= 10 trunk_z= 118.0mm grav_b=(-0.03,+0.05,-1.00) r=0.64m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(-0.03,-0.04,-1.00) r=0.64m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(-0.04,-0.01,-1.00) r=0.65m +[headless_play] t= 0.50s step= 25 trunk_z= 118.7mm grav_b=(-0.08,+0.11,-0.99) r=0.66m +[headless_play] t= 0.60s step= 30 trunk_z= 120.6mm grav_b=(-0.09,+0.07,-0.99) r=0.67m +[headless_play] t= 0.70s step= 35 trunk_z= 114.8mm grav_b=(-0.06,-0.05,-1.00) r=0.69m +[headless_play] t= 0.80s step= 40 trunk_z= 118.1mm grav_b=(-0.04,-0.08,-1.00) r=0.70m +[headless_play] t= 0.90s step= 45 trunk_z= 114.3mm grav_b=(-0.02,+0.02,-1.00) r=0.71m +[headless_play] t= 1.00s step= 50 trunk_z= 123.5mm grav_b=(-0.08,+0.16,-0.98) r=0.72m +[headless_play] t= 1.10s step= 55 trunk_z= 125.2mm grav_b=(-0.04,+0.20,-0.98) r=0.73m +[headless_play] t= 1.20s step= 60 trunk_z= 123.9mm grav_b=(+0.01,+0.15,-0.99) r=0.74m +[headless_play] t= 1.30s step= 65 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00) r=0.76m +[headless_play] t= 1.40s step= 70 trunk_z= 123.5mm grav_b=(-0.04,-0.07,-1.00) r=0.78m +[headless_play] t= 1.50s step= 75 trunk_z= 119.3mm grav_b=(-0.05,+0.01,-1.00) r=0.79m +[headless_play] t= 1.60s step= 80 trunk_z= 122.9mm grav_b=(-0.08,+0.11,-0.99) r=0.79m +[headless_play] t= 1.70s step= 85 trunk_z= 125.0mm grav_b=(-0.10,+0.10,-0.99) r=0.80m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.09,+0.03,-1.00) r=0.80m +[headless_play] t= 1.90s step= 95 trunk_z= 118.5mm grav_b=(-0.06,-0.08,-1.00) r=0.82m +[headless_play] t= 2.00s step= 100 trunk_z= 112.3mm grav_b=(+0.06,+0.05,-1.00) r=0.84m +[headless_play] t= 2.10s step= 105 trunk_z= 122.8mm grav_b=(+0.04,+0.16,-0.99) r=0.85m +[headless_play] t= 2.20s step= 110 trunk_z= 130.9mm grav_b=(-0.07,+0.12,-0.99) r=0.87m +[headless_play] t= 2.30s step= 115 trunk_z= 118.4mm grav_b=(-0.12,-0.05,-0.99) r=0.90m +[headless_play] t= 2.40s step= 120 trunk_z= 126.2mm grav_b=(-0.09,-0.10,-0.99) r=0.92m +[headless_play] t= 2.50s step= 125 trunk_z= 122.0mm grav_b=(-0.07,+0.00,-1.00) r=0.93m +[headless_play] t= 2.60s step= 130 trunk_z= 120.8mm grav_b=(-0.16,+0.03,-0.99) r=0.92m +[headless_play] t= 2.70s step= 135 trunk_z= 116.7mm grav_b=(-0.10,-0.04,-0.99) r=0.92m +[headless_play] t= 2.80s step= 140 trunk_z= 113.6mm grav_b=(-0.07,-0.08,-0.99) r=0.92m +[headless_play] t= 2.90s step= 145 trunk_z= 111.6mm grav_b=(-0.06,-0.04,-1.00) r=0.91m +[headless_play] t= 3.00s step= 150 trunk_z= 111.5mm grav_b=(-0.03,+0.08,-1.00) r=0.89m +[headless_play] t= 3.10s step= 155 trunk_z= 117.6mm grav_b=(+0.03,+0.08,-1.00) r=0.90m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(-0.01,-0.04,-1.00) r=0.91m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.09,-0.14,-0.99) r=0.93m +[headless_play] t= 3.40s step= 170 trunk_z= 121.7mm grav_b=(-0.05,-0.07,-1.00) r=0.94m +[headless_play] t= 3.50s step= 175 trunk_z= 119.7mm grav_b=(-0.02,+0.11,-0.99) r=0.93m +[headless_play] t= 3.60s step= 180 trunk_z= 124.9mm grav_b=(-0.05,+0.18,-0.98) r=0.93m +[headless_play] t= 3.70s step= 185 trunk_z= 123.6mm grav_b=(-0.00,+0.18,-0.98) r=0.93m +[headless_play] t= 3.80s step= 190 trunk_z= 121.9mm grav_b=(-0.02,+0.10,-1.00) r=0.94m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(-0.08,-0.05,-1.00) r=0.96m +[headless_play] t= 4.00s step= 200 trunk_z= 124.9mm grav_b=(-0.08,-0.07,-0.99) r=0.98m +[headless_play] t= 4.10s step= 205 trunk_z= 122.9mm grav_b=(-0.12,-0.02,-0.99) r=0.97m +[headless_play] t= 4.20s step= 210 trunk_z= 119.5mm grav_b=(-0.12,+0.08,-0.99) r=0.94m +[headless_play] t= 4.30s step= 215 trunk_z= 125.1mm grav_b=(-0.14,+0.14,-0.98) r=0.94m +[headless_play] t= 4.40s step= 220 trunk_z= 124.8mm grav_b=(-0.10,+0.13,-0.99) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.04,+0.05,-1.00) r=0.95m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(-0.00,-0.04,-1.00) r=0.96m +[headless_play] t= 4.70s step= 235 trunk_z= 111.6mm grav_b=(+0.01,-0.03,-1.00) r=0.96m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(-0.01,+0.09,-1.00) r=0.96m +[headless_play] t= 4.90s step= 245 trunk_z= 122.6mm grav_b=(-0.04,+0.08,-1.00) r=0.97m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(-0.01,-0.05,-1.00) r=0.99m +[headless_play] t= 5.10s step= 255 trunk_z= 125.6mm grav_b=(+0.00,-0.05,-1.00) r=1.00m +[headless_play] t= 5.20s step= 260 trunk_z= 114.6mm grav_b=(-0.07,+0.07,-1.00) r=1.01m +[headless_play] t= 5.30s step= 265 trunk_z= 124.9mm grav_b=(-0.06,+0.14,-0.99) r=1.02m +[headless_play] t= 5.40s step= 270 trunk_z= 125.2mm grav_b=(-0.07,+0.12,-0.99) r=1.03m +[headless_play] t= 5.50s step= 275 trunk_z= 119.2mm grav_b=(-0.07,-0.02,-1.00) r=1.05m +[headless_play] t= 5.60s step= 280 trunk_z= 122.4mm grav_b=(-0.08,-0.05,-1.00) r=1.07m +[headless_play] t= 5.70s step= 285 trunk_z= 118.1mm grav_b=(-0.06,-0.00,-1.00) r=1.07m +[headless_play] t= 5.80s step= 290 trunk_z= 121.9mm grav_b=(-0.04,+0.10,-0.99) r=1.07m +[headless_play] t= 5.90s step= 295 trunk_z= 120.4mm grav_b=(-0.09,+0.01,-1.00) r=1.08m +[headless_play] t= 6.00s step= 300 trunk_z= 121.2mm grav_b=(-0.13,-0.11,-0.99) r=1.09m +[headless_play] t= 6.10s step= 305 trunk_z= 123.6mm grav_b=(-0.12,-0.11,-0.99) r=1.10m +[headless_play] t= 6.20s step= 310 trunk_z= 122.5mm grav_b=(-0.10,-0.06,-0.99) r=1.10m +[headless_play] t= 6.30s step= 315 trunk_z= 117.1mm grav_b=(-0.07,+0.04,-1.00) r=1.10m +[headless_play] t= 6.40s step= 320 trunk_z= 124.1mm grav_b=(-0.04,+0.09,-1.00) r=1.10m +[headless_play] t= 6.50s step= 325 trunk_z= 120.1mm grav_b=(-0.01,+0.03,-1.00) r=1.12m +[headless_play] t= 6.60s step= 330 trunk_z= 120.8mm grav_b=(-0.06,-0.11,-0.99) r=1.14m +[headless_play] t= 6.70s step= 335 trunk_z= 126.2mm grav_b=(-0.07,-0.19,-0.98) r=1.16m +[headless_play] t= 6.80s step= 340 trunk_z= 128.8mm grav_b=(-0.06,-0.26,-0.96) r=1.16m +[headless_play] t= 6.90s step= 345 trunk_z= 124.4mm grav_b=(-0.04,-0.08,-1.00) r=1.18m +[headless_play] t= 7.00s step= 350 trunk_z= 119.7mm grav_b=(-0.10,+0.05,-0.99) r=1.22m +[headless_play] t= 7.10s step= 355 trunk_z= 127.1mm grav_b=(-0.04,+0.10,-0.99) r=1.23m +[headless_play] t= 7.20s step= 360 trunk_z= 123.0mm grav_b=(-0.09,+0.07,-0.99) r=1.23m +[headless_play] t= 7.30s step= 365 trunk_z= 120.0mm grav_b=(-0.09,-0.05,-0.99) r=1.23m +[headless_play] t= 7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.14,+0.00,-0.99) r=1.23m +[headless_play] t= 7.50s step= 375 trunk_z= 119.0mm grav_b=(-0.12,+0.01,-0.99) r=1.22m +[headless_play] t= 7.60s step= 380 trunk_z= 118.2mm grav_b=(-0.15,+0.01,-0.99) r=1.22m +[headless_play] t= 7.70s step= 385 trunk_z= 107.9mm grav_b=(-0.08,+0.14,-0.99) r=1.22m +[headless_play] t= 7.80s step= 390 trunk_z= 112.7mm grav_b=(-0.13,+0.14,-0.98) r=1.22m +[headless_play] t= 7.90s step= 395 trunk_z= 108.7mm grav_b=(+0.00,+0.05,-1.00) r=1.21m +[headless_play] t= 8.00s step= 400 trunk_z= 111.7mm grav_b=(+0.03,-0.02,-1.00) r=1.20m +[headless_play] t= 8.10s step= 405 trunk_z= 111.5mm grav_b=(-0.01,+0.06,-1.00) r=1.20m +[headless_play] t= 8.20s step= 410 trunk_z= 114.1mm grav_b=(-0.02,+0.04,-1.00) r=1.20m +[headless_play] t= 8.30s step= 415 trunk_z= 114.5mm grav_b=(-0.03,+0.02,-1.00) r=1.20m +[headless_play] t= 8.40s step= 420 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=1.20m +[headless_play] t= 8.50s step= 425 trunk_z= 116.2mm grav_b=(-0.03,+0.07,-1.00) r=1.20m +[headless_play] t= 8.60s step= 430 trunk_z= 115.5mm grav_b=(-0.07,+0.07,-1.00) r=1.20m +[headless_play] t= 8.70s step= 435 trunk_z= 116.0mm grav_b=(-0.06,+0.03,-1.00) r=1.20m +[headless_play] t= 8.80s step= 440 trunk_z= 116.3mm grav_b=(-0.05,+0.02,-1.00) r=1.20m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(-0.04,+0.02,-1.00) r=1.20m +[headless_play] t= 9.00s step= 450 trunk_z= 120.0mm grav_b=(+0.05,+0.02,-1.00) r=1.22m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.04,-0.06,-1.00) r=1.22m +[headless_play] t= 9.20s step= 460 trunk_z= 120.5mm grav_b=(-0.06,-0.02,-1.00) r=1.22m +[headless_play] t= 9.30s step= 465 trunk_z= 116.8mm grav_b=(-0.15,+0.07,-0.99) r=1.23m +[headless_play] t= 9.40s step= 470 trunk_z= 117.4mm grav_b=(-0.17,+0.04,-0.99) r=1.23m +[headless_play] t= 9.50s step= 475 trunk_z= 118.3mm grav_b=(-0.13,+0.02,-0.99) r=1.23m +[headless_play] t= 9.60s step= 480 trunk_z= 118.9mm grav_b=(-0.09,+0.01,-1.00) r=1.24m +[headless_play] t= 9.70s step= 485 trunk_z= 117.2mm grav_b=(-0.07,-0.02,-1.00) r=1.23m +[headless_play] t= 9.80s step= 490 trunk_z= 116.5mm grav_b=(-0.09,+0.02,-1.00) r=1.24m +[headless_play] t= 9.90s step= 495 trunk_z= 116.8mm grav_b=(-0.10,+0.01,-1.00) r=1.23m +[headless_play] t= 10.00s step= 500 trunk_z= 117.0mm grav_b=(-0.11,+0.00,-0.99) r=1.23m +[headless_play] t= 10.10s step= 505 trunk_z= 117.2mm grav_b=(-0.16,+0.02,-0.99) r=1.22m +[headless_play] t= 10.20s step= 510 trunk_z= 105.7mm grav_b=(-0.24,+0.16,-0.96) r=1.21m +[headless_play] t= 10.30s step= 515 trunk_z= 109.2mm grav_b=(-0.12,+0.12,-0.98) r=1.19m +[headless_play] t= 10.40s step= 520 trunk_z= 103.5mm grav_b=(+0.03,+0.02,-1.00) r=1.17m +[headless_play] t= 10.50s step= 525 trunk_z= 107.9mm grav_b=(+0.04,+0.02,-1.00) r=1.17m +[headless_play] t= 10.60s step= 530 trunk_z= 110.4mm grav_b=(+0.03,+0.04,-1.00) r=1.17m +[headless_play] t= 10.70s step= 535 trunk_z= 114.0mm grav_b=(+0.08,+0.00,-1.00) r=1.17m +[headless_play] t= 10.80s step= 540 trunk_z= 118.6mm grav_b=(+0.00,+0.07,-1.00) r=1.18m +[headless_play] t= 10.90s step= 545 trunk_z= 124.6mm grav_b=(-0.04,+0.14,-0.99) r=1.18m +[headless_play] t= 11.00s step= 550 trunk_z= 123.0mm grav_b=(-0.09,+0.10,-0.99) r=1.17m +[headless_play] t= 11.10s step= 555 trunk_z= 120.5mm grav_b=(-0.09,-0.03,-1.00) r=1.16m +[headless_play] t= 11.20s step= 560 trunk_z= 122.5mm grav_b=(-0.08,-0.00,-1.00) r=1.15m +[headless_play] t= 11.30s step= 565 trunk_z= 118.2mm grav_b=(-0.08,+0.07,-0.99) r=1.17m +[headless_play] t= 11.40s step= 570 trunk_z= 124.7mm grav_b=(-0.08,+0.13,-0.99) r=1.18m +[headless_play] t= 11.50s step= 575 trunk_z= 122.7mm grav_b=(-0.06,+0.10,-0.99) r=1.17m +[headless_play] t= 11.60s step= 580 trunk_z= 116.1mm grav_b=(-0.05,-0.03,-1.00) r=1.15m +[headless_play] t= 11.70s step= 585 trunk_z= 115.4mm grav_b=(+0.08,+0.02,-1.00) r=1.15m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(+0.02,+0.12,-0.99) r=1.15m +[headless_play] t= 11.90s step= 595 trunk_z= 126.2mm grav_b=(-0.07,+0.12,-0.99) r=1.15m +[headless_play] t= 12.00s step= 600 trunk_z= 118.1mm grav_b=(-0.12,+0.00,-0.99) r=1.13m +[headless_play] t= 12.10s step= 605 trunk_z= 123.5mm grav_b=(-0.15,+0.01,-0.99) r=1.13m +[headless_play] t= 12.20s step= 610 trunk_z= 114.4mm grav_b=(-0.08,+0.09,-0.99) r=1.14m +[headless_play] t= 12.30s step= 615 trunk_z= 120.2mm grav_b=(-0.07,+0.13,-0.99) r=1.14m +[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(-0.03,+0.06,-1.00) r=1.12m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(-0.03,-0.05,-1.00) r=1.11m +[headless_play] t= 12.60s step= 630 trunk_z= 113.7mm grav_b=(+0.00,+0.02,-1.00) r=1.12m +[headless_play] t= 12.70s step= 635 trunk_z= 120.7mm grav_b=(+0.01,+0.20,-0.98) r=1.14m +[headless_play] t= 12.80s step= 640 trunk_z= 126.7mm grav_b=(-0.02,+0.24,-0.97) r=1.15m +[headless_play] t= 12.90s step= 645 trunk_z= 126.1mm grav_b=(-0.01,+0.21,-0.98) r=1.15m +[headless_play] t= 13.00s step= 650 trunk_z= 124.2mm grav_b=(-0.05,+0.11,-0.99) r=1.14m +[headless_play] t= 13.10s step= 655 trunk_z= 122.2mm grav_b=(-0.14,-0.03,-0.99) r=1.12m +[headless_play] t= 13.20s step= 660 trunk_z= 124.0mm grav_b=(-0.19,-0.03,-0.98) r=1.12m +[headless_play] t= 13.30s step= 665 trunk_z= 111.3mm grav_b=(-0.19,+0.10,-0.98) r=1.14m +[headless_play] t= 13.40s step= 670 trunk_z= 114.8mm grav_b=(-0.31,+0.14,-0.94) r=1.16m +[headless_play] t= 13.50s step= 675 trunk_z= 123.5mm grav_b=(-0.08,+0.08,-0.99) r=1.16m +[headless_play] t= 13.60s step= 680 trunk_z= 118.1mm grav_b=(-0.05,-0.03,-1.00) r=1.15m +[headless_play] t= 13.70s step= 685 trunk_z= 122.7mm grav_b=(-0.09,-0.05,-0.99) r=1.14m +[headless_play] t= 13.80s step= 690 trunk_z= 117.1mm grav_b=(-0.04,+0.04,-1.00) r=1.15m +[headless_play] t= 13.90s step= 695 trunk_z= 126.2mm grav_b=(-0.03,+0.14,-0.99) r=1.15m +[headless_play] t= 14.00s step= 700 trunk_z= 128.1mm grav_b=(-0.04,+0.10,-0.99) r=1.15m +[headless_play] t= 14.10s step= 705 trunk_z= 128.6mm grav_b=(-0.02,+0.08,-1.00) r=1.13m +[headless_play] t= 14.20s step= 710 trunk_z= 118.4mm grav_b=(-0.05,+0.00,-1.00) r=1.09m +[headless_play] t= 14.30s step= 715 trunk_z= 127.5mm grav_b=(-0.06,+0.04,-1.00) r=1.08m +[headless_play] t= 14.40s step= 720 trunk_z= 117.4mm grav_b=(-0.11,+0.09,-0.99) r=1.09m +[headless_play] t= 14.50s step= 725 trunk_z= 125.7mm grav_b=(-0.10,+0.16,-0.98) r=1.10m +[headless_play] t= 14.60s step= 730 trunk_z= 127.7mm grav_b=(-0.09,+0.12,-0.99) r=1.09m +[headless_play] t= 14.70s step= 735 trunk_z= 122.9mm grav_b=(-0.10,+0.05,-0.99) r=1.06m +[headless_play] t= 14.80s step= 740 trunk_z= 126.8mm grav_b=(-0.07,-0.09,-0.99) r=1.03m +[headless_play] t= 14.90s step= 745 trunk_z= 131.4mm grav_b=(-0.09,-0.09,-0.99) r=1.01m +[headless_play] t= 15.00s step= 750 trunk_z= 132.1mm grav_b=(-0.14,-0.04,-0.99) r=1.01m +[headless_play] t= 15.10s step= 755 trunk_z= 122.3mm grav_b=(-0.09,+0.07,-0.99) r=1.02m +[headless_play] t= 15.20s step= 760 trunk_z= 126.5mm grav_b=(-0.06,+0.11,-0.99) r=1.02m +[headless_play] t= 15.30s step= 765 trunk_z= 124.0mm grav_b=(-0.08,+0.06,-1.00) r=1.01m +[headless_play] t= 15.40s step= 770 trunk_z= 123.3mm grav_b=(-0.06,-0.07,-1.00) r=0.98m +[headless_play] t= 15.50s step= 775 trunk_z= 127.5mm grav_b=(-0.06,-0.04,-1.00) r=0.97m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.09,+0.09,-0.99) r=0.98m +[headless_play] t= 15.70s step= 785 trunk_z= 130.4mm grav_b=(-0.02,+0.19,-0.98) r=0.99m +[headless_play] t= 15.80s step= 790 trunk_z= 132.2mm grav_b=(-0.02,+0.16,-0.99) r=1.00m +[headless_play] t= 15.90s step= 795 trunk_z= 132.8mm grav_b=(-0.04,+0.17,-0.98) r=0.99m +[headless_play] t= 16.00s step= 800 trunk_z= 134.4mm grav_b=(+0.04,+0.20,-0.98) r=0.98m +[headless_play] t= 16.10s step= 805 trunk_z= 121.5mm grav_b=(-0.07,+0.15,-0.99) r=1.01m +[headless_play] t= 16.20s step= 810 trunk_z= 120.5mm grav_b=(-0.07,+0.09,-0.99) r=1.01m +[headless_play] t= 16.30s step= 815 trunk_z= 122.0mm grav_b=(-0.09,+0.00,-1.00) r=1.00m +[headless_play] t= 16.40s step= 820 trunk_z= 123.6mm grav_b=(-0.05,-0.06,-1.00) r=0.98m +[headless_play] t= 16.50s step= 825 trunk_z= 126.8mm grav_b=(-0.03,+0.03,-1.00) r=0.99m +[headless_play] t= 16.60s step= 830 trunk_z= 117.8mm grav_b=(-0.06,+0.17,-0.98) r=1.01m +[headless_play] t= 16.70s step= 835 trunk_z= 128.5mm grav_b=(-0.10,+0.17,-0.98) r=1.02m +[headless_play] t= 16.80s step= 840 trunk_z= 129.5mm grav_b=(-0.12,+0.11,-0.99) r=1.01m +[headless_play] t= 16.90s step= 845 trunk_z= 120.8mm grav_b=(-0.10,+0.02,-0.99) r=0.98m +[headless_play] t= 17.00s step= 850 trunk_z= 126.8mm grav_b=(-0.04,-0.03,-1.00) r=0.97m +[headless_play] t= 17.10s step= 855 trunk_z= 125.6mm grav_b=(-0.07,+0.01,-1.00) r=0.97m +[headless_play] t= 17.20s step= 860 trunk_z= 122.6mm grav_b=(-0.12,+0.13,-0.99) r=0.99m +[headless_play] t= 17.30s step= 865 trunk_z= 126.7mm grav_b=(-0.11,+0.12,-0.99) r=0.99m +[headless_play] t= 17.40s step= 870 trunk_z= 127.3mm grav_b=(-0.05,+0.09,-0.99) r=0.98m +[headless_play] t= 17.50s step= 875 trunk_z= 118.4mm grav_b=(-0.03,-0.03,-1.00) r=0.96m +[headless_play] t= 17.60s step= 880 trunk_z= 126.5mm grav_b=(-0.03,-0.03,-1.00) r=0.95m +[headless_play] t= 17.70s step= 885 trunk_z= 118.7mm grav_b=(-0.11,+0.06,-0.99) r=0.96m +[headless_play] t= 17.80s step= 890 trunk_z= 124.2mm grav_b=(-0.14,+0.15,-0.98) r=0.98m +[headless_play] t= 17.90s step= 895 trunk_z= 125.2mm grav_b=(-0.10,+0.09,-0.99) r=0.97m +[headless_play] t= 18.00s step= 900 trunk_z= 119.0mm grav_b=(-0.08,-0.05,-1.00) r=0.95m +[headless_play] t= 18.10s step= 905 trunk_z= 129.2mm grav_b=(-0.07,-0.07,-0.99) r=0.94m +[headless_play] t= 18.20s step= 910 trunk_z= 129.2mm grav_b=(-0.12,-0.01,-0.99) r=0.95m +[headless_play] t= 18.30s step= 915 trunk_z= 123.1mm grav_b=(-0.12,+0.11,-0.99) r=0.97m +[headless_play] t= 18.40s step= 920 trunk_z= 127.0mm grav_b=(-0.11,+0.13,-0.99) r=0.98m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.14,+0.02,-0.99) r=0.95m +[headless_play] t= 18.60s step= 930 trunk_z= 123.1mm grav_b=(-0.12,+0.00,-0.99) r=0.95m +[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.10,+0.05,-0.99) r=0.95m +[headless_play] t= 18.80s step= 940 trunk_z= 117.1mm grav_b=(-0.05,+0.03,-1.00) r=0.94m +[headless_play] t= 18.90s step= 945 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=0.93m +[headless_play] t= 19.00s step= 950 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.93m +[headless_play] t= 19.10s step= 955 trunk_z= 116.2mm grav_b=(-0.04,+0.02,-1.00) r=0.93m +[headless_play] t= 19.20s step= 960 trunk_z= 116.1mm grav_b=(-0.05,+0.01,-1.00) r=0.93m +[headless_play] t= 19.30s step= 965 trunk_z= 116.1mm grav_b=(-0.04,+0.01,-1.00) r=0.93m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(+0.01,+0.05,-1.00) r=0.94m +[headless_play] t= 19.50s step= 975 trunk_z= 120.3mm grav_b=(-0.03,+0.02,-1.00) r=0.94m +[headless_play] t= 19.60s step= 980 trunk_z= 119.1mm grav_b=(-0.06,-0.08,-1.00) r=0.93m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(-0.11,+0.00,-0.99) r=0.93m +[headless_play] t= 19.80s step= 990 trunk_z= 117.9mm grav_b=(-0.09,+0.02,-1.00) r=0.93m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(-0.07,+0.01,-1.00) r=0.93m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.0mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.07,+0.01,-1.00) r=0.21m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..0d7c3684916ed75408dcfcaa79cc9309ca7493b1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.201,-0.451,+0.128) +[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= 116.5mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.01,+0.07,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 120.7mm grav_b=(-0.01,+0.03,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(-0.03,-0.12,-0.99) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 124.4mm grav_b=(-0.03,-0.16,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 123.2mm grav_b=(+0.00,-0.15,-0.99) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 122.9mm grav_b=(-0.01,-0.06,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 126.2mm grav_b=(-0.02,+0.08,-1.00) r=0.42m +[headless_play] t= 0.90s step= 45 trunk_z= 123.0mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 122.8mm grav_b=(-0.03,-0.11,-0.99) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 125.7mm grav_b=(-0.02,-0.17,-0.99) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 124.7mm grav_b=(-0.01,-0.14,-0.99) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 123.4mm grav_b=(+0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 125.9mm grav_b=(-0.06,+0.08,-1.00) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 123.6mm grav_b=(-0.11,+0.04,-0.99) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 121.9mm grav_b=(-0.06,-0.09,-0.99) r=0.35m +[headless_play] t= 1.70s step= 85 trunk_z= 123.2mm grav_b=(-0.04,-0.13,-0.99) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 121.5mm grav_b=(-0.01,-0.11,-0.99) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 118.9mm grav_b=(+0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 125.6mm grav_b=(-0.01,+0.06,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 121.0mm grav_b=(-0.03,+0.01,-1.00) r=0.30m +[headless_play] t= 2.20s step= 110 trunk_z= 123.2mm grav_b=(-0.07,-0.10,-0.99) r=0.29m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.05,+0.01,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 125.3mm grav_b=(-0.04,+0.12,-0.99) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 126.1mm grav_b=(-0.02,+0.09,-1.00) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 124.5mm grav_b=(-0.03,-0.12,-0.99) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 123.4mm grav_b=(-0.01,-0.13,-0.99) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 121.7mm grav_b=(-0.01,-0.06,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 125.8mm grav_b=(-0.01,+0.07,-1.00) r=0.22m +[headless_play] t= 3.10s step= 155 trunk_z= 124.4mm grav_b=(-0.04,+0.07,-1.00) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 118.4mm grav_b=(-0.03,+0.00,-1.00) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 118.9mm grav_b=(-0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 116.5mm grav_b=(+0.00,+0.06,-1.00) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 124.5mm grav_b=(-0.01,+0.08,-1.00) r=0.17m +[headless_play] t= 3.60s step= 180 trunk_z= 119.8mm grav_b=(-0.02,-0.01,-1.00) r=0.15m +[headless_play] t= 3.70s step= 185 trunk_z= 124.3mm grav_b=(-0.04,-0.12,-0.99) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 124.9mm grav_b=(-0.02,-0.14,-0.99) r=0.13m +[headless_play] t= 3.90s step= 195 trunk_z= 123.8mm grav_b=(+0.01,-0.09,-1.00) r=0.12m +[headless_play] t= 4.00s step= 200 trunk_z= 125.4mm grav_b=(+0.04,+0.05,-1.00) r=0.11m +[headless_play] t= 4.10s step= 205 trunk_z= 129.9mm grav_b=(+0.03,+0.05,-1.00) r=0.09m +[headless_play] t= 4.20s step= 210 trunk_z= 117.2mm grav_b=(-0.05,-0.05,-1.00) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 126.7mm grav_b=(-0.04,-0.10,-0.99) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 122.6mm grav_b=(-0.00,-0.05,-1.00) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 122.1mm grav_b=(-0.04,+0.06,-1.00) r=0.07m +[headless_play] t= 4.60s step= 230 trunk_z= 121.2mm grav_b=(-0.01,+0.05,-1.00) r=0.08m +[headless_play] t= 4.70s step= 235 trunk_z= 114.6mm grav_b=(+0.02,-0.08,-1.00) r=0.08m +[headless_play] t= 4.80s step= 240 trunk_z= 119.4mm grav_b=(+0.04,-0.12,-0.99) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 118.3mm grav_b=(+0.05,-0.08,-1.00) r=0.10m +[headless_play] t= 5.00s step= 250 trunk_z= 120.5mm grav_b=(-0.02,+0.06,-1.00) r=0.11m +[headless_play] t= 5.10s step= 255 trunk_z= 123.1mm grav_b=(-0.03,+0.07,-1.00) r=0.13m +[headless_play] t= 5.20s step= 260 trunk_z= 116.4mm grav_b=(+0.02,-0.05,-1.00) r=0.14m +[headless_play] t= 5.30s step= 265 trunk_z= 121.4mm grav_b=(+0.02,-0.13,-0.99) r=0.15m +[headless_play] t= 5.40s step= 270 trunk_z= 121.7mm grav_b=(+0.02,-0.10,-0.99) r=0.15m +[headless_play] t= 5.50s step= 275 trunk_z= 117.2mm grav_b=(+0.01,+0.02,-1.00) r=0.16m +[headless_play] t= 5.60s step= 280 trunk_z= 126.2mm grav_b=(-0.13,+0.09,-0.99) r=0.16m +[headless_play] t= 5.70s step= 285 trunk_z= 124.6mm grav_b=(-0.06,+0.01,-1.00) r=0.14m +[headless_play] t= 5.80s step= 290 trunk_z= 103.0mm grav_b=(+0.02,-0.09,-1.00) r=0.11m +[headless_play] t= 5.90s step= 295 trunk_z= 105.0mm grav_b=(+0.01,-0.06,-1.00) r=0.11m +[headless_play] t= 6.00s step= 300 trunk_z= 108.6mm grav_b=(-0.00,+0.02,-1.00) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 120.3mm grav_b=(-0.00,+0.04,-1.00) r=0.14m +[headless_play] t= 6.20s step= 310 trunk_z= 117.9mm grav_b=(-0.02,-0.05,-1.00) r=0.14m +[headless_play] t= 6.30s step= 315 trunk_z= 120.4mm grav_b=(-0.05,-0.07,-1.00) r=0.15m +[headless_play] t= 6.40s step= 320 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 120.5mm grav_b=(-0.02,+0.09,-1.00) r=0.18m +[headless_play] t= 6.60s step= 330 trunk_z= 119.2mm grav_b=(+0.01,+0.05,-1.00) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 114.1mm grav_b=(+0.04,-0.10,-0.99) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 120.3mm grav_b=(+0.02,-0.13,-0.99) r=0.20m +[headless_play] t= 6.90s step= 345 trunk_z= 118.7mm grav_b=(+0.02,-0.07,-1.00) r=0.21m +[headless_play] t= 7.00s step= 350 trunk_z= 120.4mm grav_b=(+0.02,+0.10,-0.99) r=0.23m +[headless_play] t= 7.10s step= 355 trunk_z= 125.0mm grav_b=(-0.00,+0.14,-0.99) r=0.25m +[headless_play] t= 7.20s step= 360 trunk_z= 122.1mm grav_b=(+0.03,+0.11,-0.99) r=0.26m +[headless_play] t= 7.30s step= 365 trunk_z= 115.7mm grav_b=(-0.02,-0.06,-1.00) r=0.26m +[headless_play] t= 7.40s step= 370 trunk_z= 124.2mm grav_b=(-0.02,-0.15,-0.99) r=0.26m +[headless_play] t= 7.50s step= 375 trunk_z= 122.5mm grav_b=(+0.01,-0.14,-0.99) r=0.27m +[headless_play] t= 7.60s step= 380 trunk_z= 118.0mm grav_b=(+0.01,-0.07,-1.00) r=0.28m +[headless_play] t= 7.70s step= 385 trunk_z= 124.3mm grav_b=(-0.02,+0.05,-1.00) r=0.28m +[headless_play] t= 7.80s step= 390 trunk_z= 125.1mm grav_b=(+0.01,+0.05,-1.00) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 120.1mm grav_b=(+0.03,-0.07,-1.00) r=0.30m +[headless_play] t= 8.00s step= 400 trunk_z= 134.8mm grav_b=(+0.06,-0.12,-0.99) r=0.33m +[headless_play] t= 8.10s step= 405 trunk_z= 124.7mm grav_b=(-0.02,-0.06,-1.00) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 120.0mm grav_b=(-0.07,-0.01,-1.00) r=0.40m +[headless_play] t= 8.30s step= 415 trunk_z= 124.1mm grav_b=(-0.12,+0.02,-0.99) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 121.6mm grav_b=(-0.04,-0.07,-1.00) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 125.0mm grav_b=(-0.02,-0.06,-1.00) r=0.43m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(-0.00,+0.03,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 128.5mm grav_b=(+0.03,+0.04,-1.00) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 125.1mm grav_b=(-0.01,-0.01,-1.00) r=0.49m +[headless_play] t= 8.90s step= 445 trunk_z= 125.6mm grav_b=(-0.02,-0.10,-0.99) r=0.49m +[headless_play] t= 9.00s step= 450 trunk_z= 128.3mm grav_b=(-0.04,-0.06,-1.00) r=0.50m +[headless_play] t= 9.10s step= 455 trunk_z= 119.3mm grav_b=(-0.07,+0.01,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 125.9mm grav_b=(-0.05,+0.04,-1.00) r=0.54m +[headless_play] t= 9.30s step= 465 trunk_z= 122.9mm grav_b=(-0.06,+0.01,-1.00) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 125.1mm grav_b=(-0.07,-0.11,-0.99) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 127.0mm grav_b=(-0.06,-0.07,-1.00) r=0.54m +[headless_play] t= 9.60s step= 480 trunk_z= 120.2mm grav_b=(-0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 9.70s step= 485 trunk_z= 126.8mm grav_b=(-0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 9.80s step= 490 trunk_z= 125.3mm grav_b=(+0.00,+0.03,-1.00) r=0.59m +[headless_play] t= 9.90s step= 495 trunk_z= 119.1mm grav_b=(-0.04,-0.06,-1.00) r=0.58m +[headless_play] t= 10.00s step= 500 trunk_z= 126.2mm grav_b=(-0.02,-0.08,-1.00) r=0.59m +[headless_play] t= 10.10s step= 505 trunk_z= 125.0mm grav_b=(-0.05,-0.04,-1.00) r=0.61m +[headless_play] t= 10.20s step= 510 trunk_z= 123.1mm grav_b=(-0.05,+0.05,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 127.4mm grav_b=(-0.04,+0.09,-1.00) r=0.64m +[headless_play] t= 10.40s step= 520 trunk_z= 126.5mm grav_b=(-0.02,+0.05,-1.00) r=0.65m +[headless_play] t= 10.50s step= 525 trunk_z= 124.2mm grav_b=(-0.02,-0.08,-1.00) r=0.65m +[headless_play] t= 10.60s step= 530 trunk_z= 128.8mm grav_b=(-0.02,-0.08,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 127.8mm grav_b=(-0.06,-0.04,-1.00) r=0.66m +[headless_play] t= 10.80s step= 540 trunk_z= 124.1mm grav_b=(-0.01,+0.01,-1.00) r=0.68m +[headless_play] t= 10.90s step= 545 trunk_z= 126.0mm grav_b=(+0.03,-0.05,-1.00) r=0.70m +[headless_play] t= 11.00s step= 550 trunk_z= 107.7mm grav_b=(-0.12,-0.12,-0.99) r=0.73m +[headless_play] t= 11.10s step= 555 trunk_z= 123.5mm grav_b=(-0.08,-0.08,-0.99) r=0.74m +[headless_play] t= 11.20s step= 560 trunk_z= 121.3mm grav_b=(-0.08,-0.00,-1.00) r=0.76m +[headless_play] t= 11.30s step= 565 trunk_z= 125.2mm grav_b=(-0.06,+0.05,-1.00) r=0.78m +[headless_play] t= 11.40s step= 570 trunk_z= 124.0mm grav_b=(-0.03,+0.03,-1.00) r=0.79m +[headless_play] t= 11.50s step= 575 trunk_z= 122.1mm grav_b=(-0.03,-0.09,-1.00) r=0.79m +[headless_play] t= 11.60s step= 580 trunk_z= 129.0mm grav_b=(-0.00,-0.11,-0.99) r=0.80m +[headless_play] t= 11.70s step= 585 trunk_z= 129.9mm grav_b=(-0.03,-0.09,-1.00) r=0.81m +[headless_play] t= 11.80s step= 590 trunk_z= 128.7mm grav_b=(-0.06,-0.10,-0.99) r=0.82m +[headless_play] t= 11.90s step= 595 trunk_z= 123.1mm grav_b=(-0.03,+0.02,-1.00) r=0.84m +[headless_play] t= 12.00s step= 600 trunk_z= 126.9mm grav_b=(-0.01,+0.04,-1.00) r=0.85m +[headless_play] t= 12.10s step= 605 trunk_z= 121.6mm grav_b=(-0.05,+0.01,-1.00) r=0.85m +[headless_play] t= 12.20s step= 610 trunk_z= 126.5mm grav_b=(-0.04,-0.11,-0.99) r=0.85m +[headless_play] t= 12.30s step= 615 trunk_z= 128.1mm grav_b=(-0.06,-0.07,-1.00) r=0.86m +[headless_play] t= 12.40s step= 620 trunk_z= 123.4mm grav_b=(-0.08,+0.03,-1.00) r=0.87m +[headless_play] t= 12.50s step= 625 trunk_z= 128.2mm grav_b=(-0.07,+0.06,-1.00) r=0.88m +[headless_play] t= 12.60s step= 630 trunk_z= 123.1mm grav_b=(-0.05,+0.03,-1.00) r=0.88m +[headless_play] t= 12.70s step= 635 trunk_z= 126.9mm grav_b=(-0.02,-0.08,-1.00) r=0.89m +[headless_play] t= 12.80s step= 640 trunk_z= 128.2mm grav_b=(-0.01,-0.06,-1.00) r=0.90m +[headless_play] t= 12.90s step= 645 trunk_z= 120.7mm grav_b=(-0.04,+0.02,-1.00) r=0.92m +[headless_play] t= 13.00s step= 650 trunk_z= 126.7mm grav_b=(-0.05,+0.06,-1.00) r=0.93m +[headless_play] t= 13.10s step= 655 trunk_z= 120.7mm grav_b=(-0.06,-0.00,-1.00) r=0.93m +[headless_play] t= 13.20s step= 660 trunk_z= 127.2mm grav_b=(-0.04,-0.11,-0.99) r=0.94m +[headless_play] t= 13.30s step= 665 trunk_z= 128.8mm grav_b=(-0.02,-0.09,-1.00) r=0.95m +[headless_play] t= 13.40s step= 670 trunk_z= 124.3mm grav_b=(-0.03,-0.02,-1.00) r=0.96m +[headless_play] t= 13.50s step= 675 trunk_z= 127.0mm grav_b=(-0.04,+0.05,-1.00) r=0.98m +[headless_play] t= 13.60s step= 680 trunk_z= 123.9mm grav_b=(-0.06,+0.04,-1.00) r=0.98m +[headless_play] t= 13.70s step= 685 trunk_z= 124.0mm grav_b=(-0.08,-0.09,-0.99) r=0.98m +[headless_play] t= 13.80s step= 690 trunk_z= 127.8mm grav_b=(-0.06,-0.10,-0.99) r=0.99m +[headless_play] t= 13.90s step= 695 trunk_z= 124.8mm grav_b=(-0.04,-0.05,-1.00) r=1.00m +[headless_play] t= 14.00s step= 700 trunk_z= 126.2mm grav_b=(-0.03,+0.05,-1.00) r=1.02m +[headless_play] t= 14.10s step= 705 trunk_z= 127.9mm grav_b=(-0.02,+0.06,-1.00) r=1.03m +[headless_play] t= 14.20s step= 710 trunk_z= 120.7mm grav_b=(-0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 14.30s step= 715 trunk_z= 127.4mm grav_b=(-0.03,-0.11,-0.99) r=1.03m +[headless_play] t= 14.40s step= 720 trunk_z= 127.9mm grav_b=(-0.03,-0.06,-1.00) r=1.03m +[headless_play] t= 14.50s step= 725 trunk_z= 121.8mm grav_b=(-0.03,-0.00,-1.00) r=1.05m +[headless_play] t= 14.60s step= 730 trunk_z= 131.2mm grav_b=(-0.05,+0.14,-0.99) r=1.07m +[headless_play] t= 14.70s step= 735 trunk_z= 133.7mm grav_b=(-0.01,+0.19,-0.98) r=1.09m +[headless_play] t= 14.80s step= 740 trunk_z= 132.6mm grav_b=(-0.07,+0.05,-1.00) r=1.11m +[headless_play] t= 14.90s step= 745 trunk_z= 121.7mm grav_b=(-0.14,-0.05,-0.99) r=1.16m +[headless_play] t= 15.00s step= 750 trunk_z= 131.1mm grav_b=(+0.01,-0.08,-1.00) r=1.18m +[headless_play] t= 15.10s step= 755 trunk_z= 125.0mm grav_b=(-0.01,-0.01,-1.00) r=1.20m +[headless_play] t= 15.20s step= 760 trunk_z= 126.6mm grav_b=(-0.03,+0.09,-1.00) r=1.22m +[headless_play] t= 15.30s step= 765 trunk_z= 131.5mm grav_b=(-0.04,+0.20,-0.98) r=1.23m +[headless_play] t= 15.40s step= 770 trunk_z= 130.3mm grav_b=(-0.05,+0.16,-0.99) r=1.25m +[headless_play] t= 15.50s step= 775 trunk_z= 126.2mm grav_b=(-0.11,+0.08,-0.99) r=1.30m +[headless_play] t= 15.60s step= 780 trunk_z= 132.0mm grav_b=(-0.04,+0.02,-1.00) r=1.33m +[headless_play] t= 15.70s step= 785 trunk_z= 120.9mm grav_b=(-0.02,-0.02,-1.00) r=1.34m +[headless_play] t= 15.80s step= 790 trunk_z= 123.1mm grav_b=(-0.03,+0.03,-1.00) r=1.36m +[headless_play] t= 15.90s step= 795 trunk_z= 119.7mm grav_b=(-0.03,-0.05,-1.00) r=1.38m +[headless_play] t= 16.00s step= 800 trunk_z= 127.7mm grav_b=(-0.05,-0.16,-0.99) r=1.40m +[headless_play] t= 16.10s step= 805 trunk_z= 130.1mm grav_b=(-0.03,-0.17,-0.98) r=1.41m +[headless_play] t= 16.20s step= 810 trunk_z= 130.6mm grav_b=(-0.03,-0.17,-0.98) r=1.42m +[headless_play] t= 16.30s step= 815 trunk_z= 129.2mm grav_b=(-0.03,-0.11,-0.99) r=1.42m +[headless_play] t= 16.40s step= 820 trunk_z= 124.6mm grav_b=(+0.00,-0.01,-1.00) r=1.42m +[headless_play] t= 16.50s step= 825 trunk_z= 125.2mm grav_b=(-0.04,+0.05,-1.00) r=1.42m +[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(-0.04,-0.06,-1.00) r=1.43m +[headless_play] t= 16.70s step= 835 trunk_z= 126.4mm grav_b=(-0.08,-0.07,-0.99) r=1.44m +[headless_play] t= 16.80s step= 840 trunk_z= 124.4mm grav_b=(-0.09,-0.04,-1.00) r=1.44m +[headless_play] t= 16.90s step= 845 trunk_z= 123.9mm grav_b=(-0.04,+0.07,-1.00) r=1.44m +[headless_play] t= 17.00s step= 850 trunk_z= 125.9mm grav_b=(-0.03,+0.08,-1.00) r=1.44m +[headless_play] t= 17.10s step= 855 trunk_z= 121.6mm grav_b=(+0.00,-0.01,-1.00) r=1.45m +[headless_play] t= 17.20s step= 860 trunk_z= 126.3mm grav_b=(-0.02,-0.11,-0.99) r=1.46m +[headless_play] t= 17.30s step= 865 trunk_z= 126.1mm grav_b=(-0.02,-0.07,-1.00) r=1.47m +[headless_play] t= 17.40s step= 870 trunk_z= 121.4mm grav_b=(-0.04,-0.01,-1.00) r=1.48m +[headless_play] t= 17.50s step= 875 trunk_z= 124.0mm grav_b=(-0.05,+0.01,-1.00) r=1.49m +[headless_play] t= 17.60s step= 880 trunk_z= 118.6mm grav_b=(-0.04,-0.07,-1.00) r=1.50m +[headless_play] t= 17.70s step= 885 trunk_z= 126.7mm grav_b=(-0.03,-0.11,-0.99) r=1.52m +[headless_play] t= 17.80s step= 890 trunk_z= 124.4mm grav_b=(-0.02,-0.05,-1.00) r=1.53m +[headless_play] t= 17.90s step= 895 trunk_z= 125.0mm grav_b=(-0.07,+0.08,-0.99) r=1.54m +[headless_play] t= 18.00s step= 900 trunk_z= 127.6mm grav_b=(-0.06,+0.09,-0.99) r=1.55m +[headless_play] t= 18.10s step= 905 trunk_z= 121.0mm grav_b=(-0.11,-0.01,-0.99) r=1.54m +[headless_play] t= 18.20s step= 910 trunk_z= 129.8mm grav_b=(-0.08,-0.12,-0.99) r=1.54m +[headless_play] t= 18.30s step= 915 trunk_z= 130.7mm grav_b=(-0.09,-0.07,-0.99) r=1.55m +[headless_play] t= 18.40s step= 920 trunk_z= 128.3mm grav_b=(-0.06,-0.05,-1.00) r=1.53m +[headless_play] t= 18.50s step= 925 trunk_z= 120.3mm grav_b=(-0.00,+0.05,-1.00) r=1.50m +[headless_play] t= 18.60s step= 930 trunk_z= 119.0mm grav_b=(-0.07,+0.01,-1.00) r=1.49m +[headless_play] t= 18.70s step= 935 trunk_z= 116.4mm grav_b=(+0.02,-0.06,-1.00) r=1.49m +[headless_play] t= 18.80s step= 940 trunk_z= 122.0mm grav_b=(+0.01,-0.02,-1.00) r=1.49m +[headless_play] t= 18.90s step= 945 trunk_z= 120.0mm grav_b=(+0.05,+0.02,-1.00) r=1.51m +[headless_play] t= 19.00s step= 950 trunk_z= 131.3mm grav_b=(-0.01,+0.04,-1.00) r=1.54m +[headless_play] t= 19.10s step= 955 trunk_z= 119.6mm grav_b=(-0.09,-0.04,-1.00) r=1.58m +[headless_play] t= 19.20s step= 960 trunk_z= 126.9mm grav_b=(-0.07,-0.11,-0.99) r=1.60m +[headless_play] t= 19.30s step= 965 trunk_z= 126.6mm grav_b=(-0.06,-0.07,-1.00) r=1.62m +[headless_play] t= 19.40s step= 970 trunk_z= 122.4mm grav_b=(-0.06,+0.03,-1.00) r=1.63m +[headless_play] t= 19.50s step= 975 trunk_z= 122.1mm grav_b=(-0.02,+0.02,-1.00) r=1.65m +[headless_play] t= 19.60s step= 980 trunk_z= 120.1mm grav_b=(-0.01,-0.10,-0.99) r=1.66m +[headless_play] t= 19.70s step= 985 trunk_z= 123.1mm grav_b=(+0.01,-0.12,-0.99) r=1.68m +[headless_play] t= 19.80s step= 990 trunk_z= 119.2mm grav_b=(-0.01,-0.03,-1.00) r=1.68m +[headless_play] t= 19.90s step= 995 trunk_z= 126.4mm grav_b=(-0.11,+0.11,-0.99) r=1.67m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.5mm grav_b=(-0.01,+0.00,-1.00) r=0.48m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(-0.01,-0.01,-1.00) r=0.48m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..c970742e7883fb88d1ae69a6f565cc58cd1385fd --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.395,+0.429,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,-0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.01,+0.03,-1.00) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(+0.02,+0.05,-1.00) r=0.57m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.01,-0.04,-1.00) r=0.56m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.01,-0.08,-1.00) r=0.54m +[headless_play] t= 0.50s step= 25 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.53m +[headless_play] t= 0.60s step= 30 trunk_z= 123.6mm grav_b=(-0.07,+0.12,-0.99) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 127.2mm grav_b=(-0.04,+0.12,-0.99) r=0.53m +[headless_play] t= 0.80s step= 40 trunk_z= 124.4mm grav_b=(-0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 117.5mm grav_b=(+0.01,-0.02,-1.00) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(+0.06,-0.03,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 115.2mm grav_b=(+0.04,+0.07,-1.00) r=0.51m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(+0.03,+0.09,-1.00) r=0.50m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 121.3mm grav_b=(+0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 1.50s step= 75 trunk_z= 124.6mm grav_b=(+0.03,-0.09,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 117.3mm grav_b=(+0.02,+0.02,-1.00) r=0.43m +[headless_play] t= 1.70s step= 85 trunk_z= 123.1mm grav_b=(+0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 1.80s step= 90 trunk_z= 118.5mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 121.3mm grav_b=(-0.01,-0.06,-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=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 122.4mm grav_b=(-0.02,+0.11,-0.99) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 121.5mm grav_b=(+0.01,+0.09,-1.00) r=0.35m +[headless_play] t= 2.30s step= 115 trunk_z= 114.7mm grav_b=(+0.03,-0.05,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 120.7mm grav_b=(+0.04,-0.07,-1.00) r=0.31m +[headless_play] t= 2.50s step= 125 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 2.60s step= 130 trunk_z= 122.7mm grav_b=(-0.04,+0.11,-0.99) r=0.29m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(+0.00,+0.08,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 114.6mm grav_b=(+0.04,-0.06,-1.00) r=0.25m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(+0.07,+0.00,-1.00) r=0.24m +[headless_play] t= 3.00s step= 150 trunk_z= 123.3mm grav_b=(+0.01,+0.20,-0.98) r=0.23m +[headless_play] t= 3.10s step= 155 trunk_z= 126.8mm grav_b=(+0.00,+0.25,-0.97) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 127.7mm grav_b=(+0.04,+0.17,-0.98) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 125.7mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 3.40s step= 170 trunk_z= 132.5mm grav_b=(-0.07,-0.04,-1.00) r=0.20m +[headless_play] t= 3.50s step= 175 trunk_z= 125.0mm grav_b=(+0.03,-0.04,-1.00) r=0.19m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(-0.02,+0.03,-1.00) r=0.20m +[headless_play] t= 3.70s step= 185 trunk_z= 121.6mm grav_b=(-0.01,+0.10,-1.00) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 117.7mm grav_b=(+0.02,+0.03,-1.00) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 123.4mm grav_b=(-0.04,-0.12,-0.99) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 126.3mm grav_b=(-0.01,-0.17,-0.99) r=0.15m +[headless_play] t= 4.10s step= 205 trunk_z= 127.9mm grav_b=(-0.04,-0.20,-0.98) r=0.14m +[headless_play] t= 4.20s step= 210 trunk_z= 126.7mm grav_b=(+0.07,-0.07,-0.99) r=0.13m +[headless_play] t= 4.30s step= 215 trunk_z= 121.8mm grav_b=(-0.11,+0.06,-0.99) r=0.12m +[headless_play] t= 4.40s step= 220 trunk_z= 124.7mm grav_b=(+0.01,+0.10,-0.99) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 125.8mm grav_b=(-0.02,+0.07,-1.00) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 120.6mm grav_b=(-0.02,+0.01,-1.00) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 119.3mm grav_b=(-0.04,+0.02,-1.00) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 121.0mm grav_b=(+0.08,+0.02,-1.00) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 121.0mm grav_b=(-0.08,-0.04,-1.00) r=0.08m +[headless_play] t= 5.00s step= 250 trunk_z= 121.9mm grav_b=(-0.09,-0.04,-0.99) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 120.4mm grav_b=(-0.05,+0.01,-1.00) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 119.4mm grav_b=(-0.03,+0.05,-1.00) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 119.0mm grav_b=(-0.02,+0.01,-1.00) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 118.3mm grav_b=(-0.00,+0.00,-1.00) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 118.2mm grav_b=(+0.02,+0.00,-1.00) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(+0.03,-0.00,-1.00) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 118.1mm grav_b=(+0.03,-0.00,-1.00) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 117.9mm grav_b=(+0.02,+0.00,-1.00) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 118.5mm grav_b=(-0.05,-0.01,-1.00) r=0.05m +[headless_play] t= 6.00s step= 300 trunk_z= 118.8mm grav_b=(-0.10,+0.00,-1.00) r=0.05m +[headless_play] t= 6.10s step= 305 trunk_z= 119.6mm grav_b=(-0.05,-0.00,-1.00) r=0.05m +[headless_play] t= 6.20s step= 310 trunk_z= 109.3mm grav_b=(+0.03,+0.06,-1.00) r=0.07m +[headless_play] t= 6.30s step= 315 trunk_z= 111.6mm grav_b=(+0.04,+0.06,-1.00) r=0.08m +[headless_play] t= 6.40s step= 320 trunk_z= 111.2mm grav_b=(+0.05,+0.01,-1.00) r=0.08m +[headless_play] t= 6.50s step= 325 trunk_z= 113.4mm grav_b=(+0.06,+0.00,-1.00) r=0.08m +[headless_play] t= 6.60s step= 330 trunk_z= 117.4mm grav_b=(+0.00,+0.05,-1.00) r=0.10m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(-0.00,+0.04,-1.00) r=0.10m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00) r=0.10m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00) r=0.10m +[headless_play] t= 7.00s step= 350 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.10m +[headless_play] t= 7.10s step= 355 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.10m +[headless_play] t= 7.20s step= 360 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.10m +[headless_play] t= 7.30s step= 365 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.10m +[headless_play] t= 7.40s step= 370 trunk_z= 118.0mm grav_b=(-0.07,+0.02,-1.00) r=0.11m +[headless_play] t= 7.50s step= 375 trunk_z= 117.9mm grav_b=(-0.06,+0.01,-1.00) r=0.11m +[headless_play] t= 7.60s step= 380 trunk_z= 117.9mm grav_b=(-0.06,+0.01,-1.00) r=0.11m +[headless_play] t= 7.70s step= 385 trunk_z= 117.8mm grav_b=(-0.08,+0.02,-1.00) r=0.11m +[headless_play] t= 7.80s step= 390 trunk_z= 117.5mm grav_b=(-0.05,+0.06,-1.00) r=0.11m +[headless_play] t= 7.90s step= 395 trunk_z= 119.9mm grav_b=(-0.02,+0.08,-1.00) r=0.12m +[headless_play] t= 8.00s step= 400 trunk_z= 114.7mm grav_b=(-0.04,-0.04,-1.00) r=0.14m +[headless_play] t= 8.10s step= 405 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) r=0.14m +[headless_play] t= 8.20s step= 410 trunk_z= 116.9mm grav_b=(+0.01,+0.05,-1.00) r=0.15m +[headless_play] t= 8.30s step= 415 trunk_z= 117.2mm grav_b=(+0.03,+0.03,-1.00) r=0.14m +[headless_play] t= 8.40s step= 420 trunk_z= 116.7mm grav_b=(+0.01,+0.03,-1.00) r=0.15m +[headless_play] t= 8.50s step= 425 trunk_z= 116.3mm grav_b=(-0.01,+0.02,-1.00) r=0.15m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.15m +[headless_play] t= 8.70s step= 435 trunk_z= 116.5mm grav_b=(+0.00,+0.02,-1.00) r=0.15m +[headless_play] t= 8.80s step= 440 trunk_z= 116.4mm grav_b=(-0.01,+0.02,-1.00) r=0.15m +[headless_play] t= 8.90s step= 445 trunk_z= 116.3mm grav_b=(-0.02,+0.02,-1.00) r=0.15m +[headless_play] t= 9.00s step= 450 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.15m +[headless_play] t= 9.10s step= 455 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00) r=0.15m +[headless_play] t= 9.20s step= 460 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.15m +[headless_play] t= 9.30s step= 465 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=0.15m +[headless_play] t= 9.40s step= 470 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.14m +[headless_play] t= 9.50s step= 475 trunk_z= 122.8mm grav_b=(+0.09,+0.01,-1.00) r=0.12m +[headless_play] t= 9.60s step= 480 trunk_z= 110.7mm grav_b=(-0.13,-0.10,-0.99) r=0.09m +[headless_play] t= 9.70s step= 485 trunk_z= 125.1mm grav_b=(-0.12,-0.06,-0.99) r=0.07m +[headless_play] t= 9.80s step= 490 trunk_z= 124.1mm grav_b=(-0.03,+0.03,-1.00) r=0.04m +[headless_play] t= 9.90s step= 495 trunk_z= 126.8mm grav_b=(+0.02,+0.10,-0.99) r=0.02m +[headless_play] t= 10.00s step= 500 trunk_z= 129.4mm grav_b=(+0.02,+0.10,-1.00) r=0.01m +[headless_play] t= 10.10s step= 505 trunk_z= 121.6mm grav_b=(-0.06,-0.01,-1.00) r=0.03m +[headless_play] t= 10.20s step= 510 trunk_z= 126.9mm grav_b=(-0.08,-0.05,-1.00) r=0.04m +[headless_play] t= 10.30s step= 515 trunk_z= 120.2mm grav_b=(-0.06,+0.02,-1.00) r=0.04m +[headless_play] t= 10.40s step= 520 trunk_z= 128.7mm grav_b=(-0.12,+0.17,-0.98) r=0.04m +[headless_play] t= 10.50s step= 525 trunk_z= 133.0mm grav_b=(-0.08,+0.17,-0.98) r=0.05m +[headless_play] t= 10.60s step= 530 trunk_z= 125.3mm grav_b=(+0.04,+0.07,-1.00) r=0.03m +[headless_play] t= 10.70s step= 535 trunk_z= 120.7mm grav_b=(+0.08,+0.09,-0.99) r=0.05m +[headless_play] t= 10.80s step= 540 trunk_z= 110.9mm grav_b=(-0.00,+0.12,-0.99) r=0.09m +[headless_play] t= 10.90s step= 545 trunk_z= 127.9mm grav_b=(-0.01,+0.11,-0.99) r=0.11m +[headless_play] t= 11.00s step= 550 trunk_z= 123.4mm grav_b=(-0.03,-0.01,-1.00) r=0.12m +[headless_play] t= 11.10s step= 555 trunk_z= 128.2mm grav_b=(-0.06,-0.07,-1.00) r=0.13m +[headless_play] t= 11.20s step= 560 trunk_z= 123.2mm grav_b=(-0.01,-0.03,-1.00) r=0.15m +[headless_play] t= 11.30s step= 565 trunk_z= 117.2mm grav_b=(+0.07,+0.04,-1.00) r=0.17m +[headless_play] t= 11.40s step= 570 trunk_z= 122.1mm grav_b=(+0.01,-0.05,-1.00) r=0.19m +[headless_play] t= 11.50s step= 575 trunk_z= 124.7mm grav_b=(-0.02,-0.11,-0.99) r=0.21m +[headless_play] t= 11.60s step= 580 trunk_z= 123.1mm grav_b=(-0.01,-0.06,-1.00) r=0.23m +[headless_play] t= 11.70s step= 585 trunk_z= 118.4mm grav_b=(+0.00,+0.07,-1.00) r=0.25m +[headless_play] t= 11.80s step= 590 trunk_z= 123.2mm grav_b=(-0.01,+0.10,-0.99) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 119.2mm grav_b=(+0.01,+0.04,-1.00) r=0.26m +[headless_play] t= 12.00s step= 600 trunk_z= 120.0mm grav_b=(+0.02,-0.11,-0.99) r=0.27m +[headless_play] t= 12.10s step= 605 trunk_z= 121.1mm grav_b=(+0.04,-0.11,-0.99) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 120.6mm grav_b=(+0.02,-0.07,-1.00) r=0.28m +[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(+0.01,+0.06,-1.00) r=0.30m +[headless_play] t= 12.40s step= 620 trunk_z= 123.4mm grav_b=(+0.03,+0.10,-0.99) r=0.32m +[headless_play] t= 12.50s step= 625 trunk_z= 119.0mm grav_b=(+0.04,+0.04,-1.00) r=0.33m +[headless_play] t= 12.60s step= 630 trunk_z= 121.7mm grav_b=(-0.01,-0.09,-1.00) r=0.33m +[headless_play] t= 12.70s step= 635 trunk_z= 121.1mm grav_b=(-0.07,-0.03,-1.00) r=0.33m +[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.01,+0.07,-1.00) r=0.34m +[headless_play] t= 12.90s step= 645 trunk_z= 125.6mm grav_b=(+0.00,+0.14,-0.99) r=0.34m +[headless_play] t= 13.00s step= 650 trunk_z= 124.1mm grav_b=(+0.02,+0.11,-0.99) r=0.35m +[headless_play] t= 13.10s step= 655 trunk_z= 118.5mm grav_b=(-0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 13.20s step= 660 trunk_z= 122.5mm grav_b=(-0.01,-0.06,-1.00) r=0.36m +[headless_play] t= 13.30s step= 665 trunk_z= 117.5mm grav_b=(-0.01,-0.04,-1.00) r=0.37m +[headless_play] t= 13.40s step= 670 trunk_z= 119.9mm grav_b=(+0.00,+0.11,-0.99) r=0.39m +[headless_play] t= 13.50s step= 675 trunk_z= 124.1mm grav_b=(-0.00,+0.09,-1.00) r=0.41m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(+0.02,-0.00,-1.00) r=0.41m +[headless_play] t= 13.70s step= 685 trunk_z= 126.5mm grav_b=(-0.01,-0.15,-0.99) r=0.42m +[headless_play] t= 13.80s step= 690 trunk_z= 127.2mm grav_b=(-0.01,-0.16,-0.99) r=0.42m +[headless_play] t= 13.90s step= 695 trunk_z= 125.8mm grav_b=(+0.01,-0.13,-0.99) r=0.42m +[headless_play] t= 14.00s step= 700 trunk_z= 128.9mm grav_b=(-0.05,-0.04,-1.00) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 128.6mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 122.2mm grav_b=(-0.05,-0.01,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 122.3mm grav_b=(-0.05,-0.05,-1.00) r=0.50m +[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(+0.01,+0.01,-1.00) r=0.52m +[headless_play] t= 14.50s step= 725 trunk_z= 119.2mm grav_b=(-0.03,+0.08,-1.00) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 122.1mm grav_b=(-0.01,+0.04,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 118.7mm grav_b=(+0.00,-0.07,-1.00) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 122.6mm grav_b=(+0.02,-0.07,-1.00) r=0.56m +[headless_play] t= 14.90s step= 745 trunk_z= 118.7mm grav_b=(-0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 15.00s step= 750 trunk_z= 124.8mm grav_b=(-0.03,+0.11,-0.99) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 125.5mm grav_b=(-0.01,+0.10,-1.00) r=0.60m +[headless_play] t= 15.20s step= 760 trunk_z= 119.5mm grav_b=(+0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 15.30s step= 765 trunk_z= 123.7mm grav_b=(-0.00,-0.07,-1.00) r=0.62m +[headless_play] t= 15.40s step= 770 trunk_z= 120.0mm grav_b=(-0.00,-0.04,-1.00) r=0.63m +[headless_play] t= 15.50s step= 775 trunk_z= 120.1mm grav_b=(-0.01,+0.09,-1.00) r=0.64m +[headless_play] t= 15.60s step= 780 trunk_z= 125.7mm grav_b=(-0.02,+0.10,-1.00) r=0.65m +[headless_play] t= 15.70s step= 785 trunk_z= 120.6mm grav_b=(+0.01,+0.04,-1.00) r=0.66m +[headless_play] t= 15.80s step= 790 trunk_z= 124.7mm grav_b=(-0.04,-0.07,-1.00) r=0.67m +[headless_play] t= 15.90s step= 795 trunk_z= 122.5mm grav_b=(+0.06,-0.09,-0.99) r=0.69m +[headless_play] t= 16.00s step= 800 trunk_z= 116.5mm grav_b=(+0.08,+0.06,-1.00) r=0.72m +[headless_play] t= 16.10s step= 805 trunk_z= 129.9mm grav_b=(+0.06,+0.11,-0.99) r=0.75m +[headless_play] t= 16.20s step= 810 trunk_z= 129.6mm grav_b=(+0.01,+0.03,-1.00) r=0.79m +[headless_play] t= 16.30s step= 815 trunk_z= 119.7mm grav_b=(-0.09,-0.01,-1.00) r=0.83m +[headless_play] t= 16.40s step= 820 trunk_z= 127.2mm grav_b=(-0.04,-0.02,-1.00) r=0.85m +[headless_play] t= 16.50s step= 825 trunk_z= 120.7mm grav_b=(-0.00,+0.06,-1.00) r=0.87m +[headless_play] t= 16.60s step= 830 trunk_z= 122.6mm grav_b=(+0.01,+0.09,-1.00) r=0.88m +[headless_play] t= 16.70s step= 835 trunk_z= 119.3mm grav_b=(+0.05,+0.04,-1.00) r=0.89m +[headless_play] t= 16.80s step= 840 trunk_z= 116.9mm grav_b=(-0.02,-0.08,-1.00) r=0.91m +[headless_play] t= 16.90s step= 845 trunk_z= 120.6mm grav_b=(+0.00,-0.08,-1.00) r=0.92m +[headless_play] t= 17.00s step= 850 trunk_z= 114.1mm grav_b=(+0.04,+0.01,-1.00) r=0.93m +[headless_play] t= 17.10s step= 855 trunk_z= 122.3mm grav_b=(+0.01,+0.10,-1.00) r=0.94m +[headless_play] t= 17.20s step= 860 trunk_z= 120.0mm grav_b=(+0.04,+0.08,-1.00) r=0.96m +[headless_play] t= 17.30s step= 865 trunk_z= 118.4mm grav_b=(+0.05,-0.01,-1.00) r=0.97m +[headless_play] t= 17.40s step= 870 trunk_z= 121.4mm grav_b=(-0.07,-0.09,-0.99) r=0.98m +[headless_play] t= 17.50s step= 875 trunk_z= 119.1mm grav_b=(-0.06,+0.01,-1.00) r=0.98m +[headless_play] t= 17.60s step= 880 trunk_z= 126.1mm grav_b=(-0.06,+0.10,-0.99) r=0.98m +[headless_play] t= 17.70s step= 885 trunk_z= 128.9mm grav_b=(+0.00,+0.11,-0.99) r=0.97m +[headless_play] t= 17.80s step= 890 trunk_z= 122.2mm grav_b=(+0.06,+0.03,-1.00) r=0.96m +[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(+0.04,-0.05,-1.00) r=0.95m +[headless_play] t= 18.00s step= 900 trunk_z= 115.8mm grav_b=(+0.09,-0.09,-0.99) r=0.95m +[headless_play] t= 18.10s step= 905 trunk_z= 118.7mm grav_b=(+0.06,+0.00,-1.00) r=0.97m +[headless_play] t= 18.20s step= 910 trunk_z= 126.9mm grav_b=(+0.03,-0.01,-1.00) r=0.99m +[headless_play] t= 18.30s step= 915 trunk_z= 120.9mm grav_b=(-0.03,-0.07,-1.00) r=1.02m +[headless_play] t= 18.40s step= 920 trunk_z= 128.6mm grav_b=(-0.04,-0.07,-1.00) r=1.05m +[headless_play] t= 18.50s step= 925 trunk_z= 117.5mm grav_b=(-0.03,+0.02,-1.00) r=1.08m +[headless_play] t= 18.60s step= 930 trunk_z= 122.0mm grav_b=(+0.01,+0.03,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 121.0mm grav_b=(-0.02,-0.08,-1.00) r=1.10m +[headless_play] t= 18.80s step= 940 trunk_z= 126.0mm grav_b=(+0.02,-0.07,-1.00) r=1.12m +[headless_play] t= 18.90s step= 945 trunk_z= 118.1mm grav_b=(-0.02,+0.03,-1.00) r=1.14m +[headless_play] t= 19.00s step= 950 trunk_z= 125.0mm grav_b=(-0.01,+0.09,-1.00) r=1.16m +[headless_play] t= 19.10s step= 955 trunk_z= 124.5mm grav_b=(-0.01,+0.08,-1.00) r=1.17m +[headless_play] t= 19.20s step= 960 trunk_z= 120.6mm grav_b=(+0.00,-0.06,-1.00) r=1.17m +[headless_play] t= 19.30s step= 965 trunk_z= 125.7mm grav_b=(-0.00,-0.05,-1.00) r=1.18m +[headless_play] t= 19.40s step= 970 trunk_z= 120.6mm grav_b=(-0.01,+0.01,-1.00) r=1.20m +[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(+0.00,+0.04,-1.00) r=1.21m +[headless_play] t= 19.60s step= 980 trunk_z= 121.8mm grav_b=(+0.02,-0.00,-1.00) r=1.22m +[headless_play] t= 19.70s step= 985 trunk_z= 123.8mm grav_b=(-0.01,-0.09,-1.00) r=1.22m +[headless_play] t= 19.80s step= 990 trunk_z= 125.6mm grav_b=(-0.01,-0.05,-1.00) r=1.24m +[headless_play] t= 19.90s step= 995 trunk_z= 120.5mm grav_b=(-0.02,+0.05,-1.00) r=1.26m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.0mm grav_b=(-0.01,+0.00,-1.00) r=0.38m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.01,+0.03,-1.00) r=0.39m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..51c8ad87769cde5c5e8a77b283d19c94c3fe685b --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.7mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.202,+0.395,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 120.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 0.30s step= 15 trunk_z= 115.4mm grav_b=(-0.03,-0.08,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 119.9mm grav_b=(-0.05,-0.10,-0.99) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 120.8mm grav_b=(-0.07,+0.09,-0.99) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 120.6mm grav_b=(-0.09,+0.01,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 113.0mm grav_b=(-0.06,-0.10,-0.99) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 119.7mm grav_b=(-0.05,-0.14,-0.99) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 119.1mm grav_b=(-0.02,-0.12,-0.99) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 111.0mm grav_b=(+0.01,-0.03,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(+0.03,+0.05,-1.00) r=0.39m +[headless_play] t= 1.30s step= 65 trunk_z= 114.2mm grav_b=(+0.05,+0.02,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 111.5mm grav_b=(+0.00,-0.10,-0.99) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(-0.04,-0.07,-1.00) r=0.37m +[headless_play] t= 1.60s step= 80 trunk_z= 112.9mm grav_b=(-0.05,+0.05,-1.00) r=0.35m +[headless_play] t= 1.70s step= 85 trunk_z= 119.4mm grav_b=(-0.08,+0.07,-0.99) r=0.35m +[headless_play] t= 1.80s step= 90 trunk_z= 117.2mm grav_b=(-0.04,+0.03,-1.00) r=0.34m +[headless_play] t= 1.90s step= 95 trunk_z= 110.7mm grav_b=(+0.00,-0.06,-1.00) r=0.33m +[headless_play] t= 2.00s step= 100 trunk_z= 111.4mm grav_b=(+0.01,-0.08,-1.00) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 109.3mm grav_b=(-0.02,+0.02,-1.00) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.07,+0.05,-1.00) r=0.31m +[headless_play] t= 2.30s step= 115 trunk_z= 117.8mm grav_b=(-0.08,-0.00,-1.00) r=0.31m +[headless_play] t= 2.40s step= 120 trunk_z= 112.0mm grav_b=(-0.04,-0.06,-1.00) r=0.32m +[headless_play] t= 2.50s step= 125 trunk_z= 111.7mm grav_b=(+0.01,-0.07,-1.00) r=0.31m +[headless_play] t= 2.60s step= 130 trunk_z= 106.2mm grav_b=(+0.07,+0.04,-1.00) r=0.29m +[headless_play] t= 2.70s step= 135 trunk_z= 112.7mm grav_b=(+0.03,+0.06,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 113.1mm grav_b=(-0.01,-0.01,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 112.3mm grav_b=(-0.02,-0.13,-0.99) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 118.0mm grav_b=(-0.04,-0.10,-0.99) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 111.6mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 3.20s step= 160 trunk_z= 120.5mm grav_b=(-0.11,+0.07,-0.99) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 121.9mm grav_b=(-0.09,+0.05,-0.99) r=0.25m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(-0.06,-0.03,-1.00) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 114.6mm grav_b=(-0.05,-0.11,-0.99) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 111.8mm grav_b=(+0.02,-0.09,-1.00) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 107.6mm grav_b=(+0.03,+0.01,-1.00) r=0.24m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.01,+0.07,-1.00) r=0.23m +[headless_play] t= 3.90s step= 195 trunk_z= 114.6mm grav_b=(+0.04,+0.03,-1.00) r=0.23m +[headless_play] t= 4.00s step= 200 trunk_z= 111.7mm grav_b=(+0.02,-0.11,-0.99) r=0.23m +[headless_play] t= 4.10s step= 205 trunk_z= 120.7mm grav_b=(+0.00,-0.14,-0.99) r=0.23m +[headless_play] t= 4.20s step= 210 trunk_z= 118.5mm grav_b=(-0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 4.30s step= 215 trunk_z= 120.6mm grav_b=(-0.07,+0.07,-0.99) r=0.21m +[headless_play] t= 4.40s step= 220 trunk_z= 122.2mm grav_b=(-0.08,+0.04,-1.00) r=0.21m +[headless_play] t= 4.50s step= 225 trunk_z= 118.3mm grav_b=(-0.05,-0.03,-1.00) r=0.22m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(-0.05,-0.11,-0.99) r=0.24m +[headless_play] t= 4.70s step= 235 trunk_z= 116.0mm grav_b=(+0.00,-0.10,-1.00) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 111.0mm grav_b=(+0.03,+0.02,-1.00) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 118.0mm grav_b=(+0.01,+0.11,-0.99) r=0.19m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(+0.01,+0.05,-1.00) r=0.20m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(-0.05,-0.13,-0.99) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 121.6mm grav_b=(-0.05,-0.16,-0.99) r=0.23m +[headless_play] t= 5.30s step= 265 trunk_z= 121.0mm grav_b=(-0.01,-0.15,-0.99) r=0.24m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(+0.04,-0.11,-0.99) r=0.23m +[headless_play] t= 5.50s step= 275 trunk_z= 117.1mm grav_b=(+0.01,+0.04,-1.00) r=0.21m +[headless_play] t= 5.60s step= 280 trunk_z= 120.2mm grav_b=(-0.02,+0.09,-1.00) r=0.20m +[headless_play] t= 5.70s step= 285 trunk_z= 116.0mm grav_b=(+0.01,+0.03,-1.00) r=0.21m +[headless_play] t= 5.80s step= 290 trunk_z= 118.3mm grav_b=(-0.06,-0.09,-0.99) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 122.0mm grav_b=(-0.09,-0.09,-0.99) r=0.22m +[headless_play] t= 6.00s step= 300 trunk_z= 119.4mm grav_b=(-0.05,-0.03,-1.00) r=0.20m +[headless_play] t= 6.10s step= 305 trunk_z= 117.7mm grav_b=(-0.01,+0.08,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 119.1mm grav_b=(-0.03,+0.09,-1.00) r=0.19m +[headless_play] t= 6.30s step= 315 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) r=0.20m +[headless_play] t= 6.40s step= 320 trunk_z= 114.0mm grav_b=(-0.04,-0.04,-1.00) r=0.20m +[headless_play] t= 6.50s step= 325 trunk_z= 115.5mm grav_b=(-0.06,-0.01,-1.00) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(-0.04,+0.09,-0.99) r=0.17m +[headless_play] t= 6.70s step= 335 trunk_z= 122.7mm grav_b=(-0.06,+0.11,-0.99) r=0.17m +[headless_play] t= 6.80s step= 340 trunk_z= 121.0mm grav_b=(-0.07,+0.05,-1.00) r=0.17m +[headless_play] t= 6.90s step= 345 trunk_z= 111.9mm grav_b=(-0.01,-0.05,-1.00) r=0.19m +[headless_play] t= 7.00s step= 350 trunk_z= 112.3mm grav_b=(+0.05,-0.11,-0.99) r=0.20m +[headless_play] t= 7.10s step= 355 trunk_z= 113.1mm grav_b=(+0.06,-0.14,-0.99) r=0.20m +[headless_play] t= 7.20s step= 360 trunk_z= 115.8mm grav_b=(+0.02,-0.06,-1.00) r=0.19m +[headless_play] t= 7.30s step= 365 trunk_z= 120.9mm grav_b=(-0.01,+0.09,-1.00) r=0.18m +[headless_play] t= 7.40s step= 370 trunk_z= 120.9mm grav_b=(-0.02,+0.08,-1.00) r=0.18m +[headless_play] t= 7.50s step= 375 trunk_z= 115.3mm grav_b=(-0.03,-0.03,-1.00) r=0.19m +[headless_play] t= 7.60s step= 380 trunk_z= 121.2mm grav_b=(-0.03,-0.08,-1.00) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 116.9mm grav_b=(-0.01,-0.07,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 112.4mm grav_b=(-0.02,+0.04,-1.00) r=0.20m +[headless_play] t= 7.90s step= 395 trunk_z= 120.7mm grav_b=(-0.05,+0.09,-0.99) r=0.20m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(+0.00,+0.05,-1.00) r=0.21m +[headless_play] t= 8.10s step= 405 trunk_z= 114.1mm grav_b=(+0.04,-0.09,-1.00) r=0.23m +[headless_play] t= 8.20s step= 410 trunk_z= 116.3mm grav_b=(+0.03,-0.09,-1.00) r=0.24m +[headless_play] t= 8.30s step= 415 trunk_z= 112.9mm grav_b=(+0.00,-0.02,-1.00) r=0.23m +[headless_play] t= 8.40s step= 420 trunk_z= 120.3mm grav_b=(-0.08,+0.08,-0.99) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 122.0mm grav_b=(-0.12,+0.05,-0.99) r=0.22m +[headless_play] t= 8.60s step= 430 trunk_z= 115.5mm grav_b=(-0.08,-0.03,-1.00) r=0.23m +[headless_play] t= 8.70s step= 435 trunk_z= 117.2mm grav_b=(-0.03,-0.09,-1.00) r=0.24m +[headless_play] t= 8.80s step= 440 trunk_z= 114.5mm grav_b=(+0.02,-0.10,-0.99) r=0.23m +[headless_play] t= 8.90s step= 445 trunk_z= 110.3mm grav_b=(+0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 9.00s step= 450 trunk_z= 118.5mm grav_b=(-0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 9.10s step= 455 trunk_z= 118.5mm grav_b=(+0.01,+0.02,-1.00) r=0.23m +[headless_play] t= 9.20s step= 460 trunk_z= 118.4mm grav_b=(+0.02,-0.09,-1.00) r=0.24m +[headless_play] t= 9.30s step= 465 trunk_z= 118.6mm grav_b=(+0.02,-0.07,-1.00) r=0.25m +[headless_play] t= 9.40s step= 470 trunk_z= 115.3mm grav_b=(-0.03,+0.06,-1.00) r=0.24m +[headless_play] t= 9.50s step= 475 trunk_z= 125.7mm grav_b=(-0.10,+0.11,-0.99) r=0.23m +[headless_play] t= 9.60s step= 480 trunk_z= 126.0mm grav_b=(-0.15,+0.08,-0.99) r=0.23m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.10,+0.00,-1.00) r=0.22m +[headless_play] t= 9.80s step= 490 trunk_z= 120.5mm grav_b=(-0.05,-0.06,-1.00) r=0.22m +[headless_play] t= 9.90s step= 495 trunk_z= 117.6mm grav_b=(+0.04,-0.02,-1.00) r=0.20m +[headless_play] t= 10.00s step= 500 trunk_z= 120.7mm grav_b=(+0.01,+0.11,-0.99) r=0.18m +[headless_play] t= 10.10s step= 505 trunk_z= 120.7mm grav_b=(+0.05,+0.08,-1.00) r=0.20m +[headless_play] t= 10.20s step= 510 trunk_z= 121.2mm grav_b=(+0.01,-0.08,-1.00) r=0.22m +[headless_play] t= 10.30s step= 515 trunk_z= 133.0mm grav_b=(-0.01,-0.10,-1.00) r=0.24m +[headless_play] t= 10.40s step= 520 trunk_z= 124.4mm grav_b=(-0.07,-0.04,-1.00) r=0.26m +[headless_play] t= 10.50s step= 525 trunk_z= 120.6mm grav_b=(-0.01,+0.05,-1.00) r=0.28m +[headless_play] t= 10.60s step= 530 trunk_z= 120.4mm grav_b=(-0.05,-0.00,-1.00) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 123.3mm grav_b=(-0.04,-0.09,-1.00) r=0.31m +[headless_play] t= 10.80s step= 540 trunk_z= 123.9mm grav_b=(-0.02,-0.07,-1.00) r=0.33m +[headless_play] t= 10.90s step= 545 trunk_z= 117.2mm grav_b=(-0.04,+0.02,-1.00) r=0.33m +[headless_play] t= 11.00s step= 550 trunk_z= 127.7mm grav_b=(-0.02,+0.18,-0.98) r=0.34m +[headless_play] t= 11.10s step= 555 trunk_z= 131.0mm grav_b=(+0.00,+0.18,-0.98) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 131.1mm grav_b=(-0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 11.30s step= 565 trunk_z= 130.6mm grav_b=(-0.02,-0.05,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 127.5mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 11.50s step= 575 trunk_z= 119.0mm grav_b=(-0.05,+0.03,-1.00) r=0.44m +[headless_play] t= 11.60s step= 580 trunk_z= 121.6mm grav_b=(-0.04,+0.03,-1.00) r=0.45m +[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.00,-0.09,-1.00) r=0.46m +[headless_play] t= 11.80s step= 590 trunk_z= 128.8mm grav_b=(-0.05,-0.17,-0.98) r=0.46m +[headless_play] t= 11.90s step= 595 trunk_z= 129.1mm grav_b=(-0.02,-0.20,-0.98) r=0.47m +[headless_play] t= 12.00s step= 600 trunk_z= 130.3mm grav_b=(-0.00,-0.21,-0.98) r=0.47m +[headless_play] t= 12.10s step= 605 trunk_z= 133.9mm grav_b=(-0.02,-0.18,-0.98) r=0.48m +[headless_play] t= 12.20s step= 610 trunk_z= 128.3mm grav_b=(-0.05,-0.13,-0.99) r=0.51m +[headless_play] t= 12.30s step= 615 trunk_z= 127.0mm grav_b=(+0.02,-0.12,-0.99) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 115.7mm grav_b=(-0.09,-0.17,-0.98) r=0.54m +[headless_play] t= 12.50s step= 625 trunk_z= 127.5mm grav_b=(-0.06,-0.20,-0.98) r=0.56m +[headless_play] t= 12.60s step= 630 trunk_z= 128.6mm grav_b=(-0.02,-0.15,-0.99) r=0.58m +[headless_play] t= 12.70s step= 635 trunk_z= 121.3mm grav_b=(-0.04,-0.01,-1.00) r=0.61m +[headless_play] t= 12.80s step= 640 trunk_z= 125.4mm grav_b=(-0.06,+0.10,-0.99) r=0.63m +[headless_play] t= 12.90s step= 645 trunk_z= 124.3mm grav_b=(-0.07,+0.06,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 121.5mm grav_b=(-0.10,-0.05,-0.99) r=0.62m +[headless_play] t= 13.10s step= 655 trunk_z= 126.5mm grav_b=(-0.10,-0.06,-0.99) r=0.62m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(-0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 13.30s step= 665 trunk_z= 121.8mm grav_b=(-0.05,+0.07,-1.00) r=0.63m +[headless_play] t= 13.40s step= 670 trunk_z= 119.8mm grav_b=(-0.03,+0.03,-1.00) r=0.63m +[headless_play] t= 13.50s step= 675 trunk_z= 121.4mm grav_b=(-0.02,-0.10,-1.00) r=0.62m +[headless_play] t= 13.60s step= 680 trunk_z= 126.5mm grav_b=(+0.02,-0.09,-1.00) r=0.62m +[headless_play] t= 13.70s step= 685 trunk_z= 120.1mm grav_b=(-0.02,-0.00,-1.00) r=0.64m +[headless_play] t= 13.80s step= 690 trunk_z= 122.3mm grav_b=(+0.01,+0.12,-0.99) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 127.0mm grav_b=(-0.04,+0.09,-1.00) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 121.1mm grav_b=(-0.07,-0.04,-1.00) r=0.66m +[headless_play] t= 14.10s step= 705 trunk_z= 126.9mm grav_b=(-0.09,-0.10,-0.99) r=0.65m +[headless_play] t= 14.20s step= 710 trunk_z= 127.1mm grav_b=(-0.05,-0.08,-1.00) r=0.66m +[headless_play] t= 14.30s step= 715 trunk_z= 119.6mm grav_b=(-0.03,+0.03,-1.00) r=0.68m +[headless_play] t= 14.40s step= 720 trunk_z= 125.7mm grav_b=(-0.02,+0.09,-1.00) r=0.69m +[headless_play] t= 14.50s step= 725 trunk_z= 127.3mm grav_b=(-0.03,+0.09,-1.00) r=0.70m +[headless_play] t= 14.60s step= 730 trunk_z= 126.7mm grav_b=(-0.06,+0.04,-1.00) r=0.70m +[headless_play] t= 14.70s step= 735 trunk_z= 125.7mm grav_b=(-0.06,-0.09,-0.99) r=0.69m +[headless_play] t= 14.80s step= 740 trunk_z= 128.9mm grav_b=(-0.07,-0.11,-0.99) r=0.69m +[headless_play] t= 14.90s step= 745 trunk_z= 128.3mm grav_b=(-0.06,-0.08,-1.00) r=0.71m +[headless_play] t= 15.00s step= 750 trunk_z= 121.6mm grav_b=(-0.00,+0.02,-1.00) r=0.73m +[headless_play] t= 15.10s step= 755 trunk_z= 128.2mm grav_b=(+0.00,+0.07,-1.00) r=0.74m +[headless_play] t= 15.20s step= 760 trunk_z= 126.2mm grav_b=(-0.07,-0.03,-1.00) r=0.74m +[headless_play] t= 15.30s step= 765 trunk_z= 122.0mm grav_b=(-0.16,-0.11,-0.98) r=0.74m +[headless_play] t= 15.40s step= 770 trunk_z= 128.0mm grav_b=(-0.08,-0.11,-0.99) r=0.75m +[headless_play] t= 15.50s step= 775 trunk_z= 121.8mm grav_b=(-0.09,-0.01,-1.00) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 125.9mm grav_b=(-0.08,+0.05,-1.00) r=0.75m +[headless_play] t= 15.70s step= 785 trunk_z= 123.6mm grav_b=(-0.08,+0.01,-1.00) r=0.74m +[headless_play] t= 15.80s step= 790 trunk_z= 123.3mm grav_b=(-0.06,-0.09,-0.99) r=0.72m +[headless_play] t= 15.90s step= 795 trunk_z= 126.5mm grav_b=(-0.03,-0.16,-0.99) r=0.71m +[headless_play] t= 16.00s step= 800 trunk_z= 127.8mm grav_b=(+0.00,-0.17,-0.99) r=0.71m +[headless_play] t= 16.10s step= 805 trunk_z= 128.6mm grav_b=(+0.01,-0.12,-0.99) r=0.73m +[headless_play] t= 16.20s step= 810 trunk_z= 121.9mm grav_b=(+0.04,+0.00,-1.00) r=0.76m +[headless_play] t= 16.30s step= 815 trunk_z= 128.7mm grav_b=(+0.03,+0.04,-1.00) r=0.77m +[headless_play] t= 16.40s step= 820 trunk_z= 126.0mm grav_b=(-0.06,-0.01,-1.00) r=0.78m +[headless_play] t= 16.50s step= 825 trunk_z= 126.1mm grav_b=(-0.09,-0.06,-0.99) r=0.79m +[headless_play] t= 16.60s step= 830 trunk_z= 125.7mm grav_b=(-0.08,-0.06,-0.99) r=0.80m +[headless_play] t= 16.70s step= 835 trunk_z= 120.7mm grav_b=(-0.08,+0.06,-0.99) r=0.82m +[headless_play] t= 16.80s step= 840 trunk_z= 125.1mm grav_b=(-0.04,+0.09,-0.99) r=0.83m +[headless_play] t= 16.90s step= 845 trunk_z= 121.2mm grav_b=(-0.04,+0.01,-1.00) r=0.83m +[headless_play] t= 17.00s step= 850 trunk_z= 126.2mm grav_b=(-0.04,-0.09,-1.00) r=0.83m +[headless_play] t= 17.10s step= 855 trunk_z= 128.1mm grav_b=(-0.05,-0.06,-1.00) r=0.84m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(-0.08,+0.03,-1.00) r=0.87m +[headless_play] t= 17.30s step= 865 trunk_z= 125.2mm grav_b=(-0.07,+0.11,-0.99) r=0.88m +[headless_play] t= 17.40s step= 870 trunk_z= 124.8mm grav_b=(-0.09,+0.05,-0.99) r=0.88m +[headless_play] t= 17.50s step= 875 trunk_z= 121.5mm grav_b=(-0.07,-0.04,-1.00) r=0.86m +[headless_play] t= 17.60s step= 880 trunk_z= 126.8mm grav_b=(-0.04,-0.05,-1.00) r=0.86m +[headless_play] t= 17.70s step= 885 trunk_z= 124.0mm grav_b=(-0.04,-0.02,-1.00) r=0.88m +[headless_play] t= 17.80s step= 890 trunk_z= 123.7mm grav_b=(-0.04,+0.10,-0.99) r=0.90m +[headless_play] t= 17.90s step= 895 trunk_z= 125.4mm grav_b=(-0.02,+0.06,-1.00) r=0.90m +[headless_play] t= 18.00s step= 900 trunk_z= 119.0mm grav_b=(-0.07,-0.05,-1.00) r=0.89m +[headless_play] t= 18.10s step= 905 trunk_z= 128.6mm grav_b=(-0.02,-0.12,-0.99) r=0.88m +[headless_play] t= 18.20s step= 910 trunk_z= 132.5mm grav_b=(+0.00,-0.05,-1.00) r=0.88m +[headless_play] t= 18.30s step= 915 trunk_z= 117.8mm grav_b=(-0.05,+0.02,-1.00) r=0.90m +[headless_play] t= 18.40s step= 920 trunk_z= 123.9mm grav_b=(-0.02,+0.02,-1.00) r=0.91m +[headless_play] t= 18.50s step= 925 trunk_z= 121.0mm grav_b=(-0.06,-0.07,-1.00) r=0.90m +[headless_play] t= 18.60s step= 930 trunk_z= 125.4mm grav_b=(-0.06,-0.09,-0.99) r=0.88m +[headless_play] t= 18.70s step= 935 trunk_z= 127.5mm grav_b=(-0.06,-0.06,-1.00) r=0.89m +[headless_play] t= 18.80s step= 940 trunk_z= 118.5mm grav_b=(-0.05,+0.05,-1.00) r=0.91m +[headless_play] t= 18.90s step= 945 trunk_z= 127.0mm grav_b=(-0.03,+0.09,-1.00) r=0.92m +[headless_play] t= 19.00s step= 950 trunk_z= 128.4mm grav_b=(-0.02,+0.06,-1.00) r=0.94m +[headless_play] t= 19.10s step= 955 trunk_z= 123.0mm grav_b=(-0.07,-0.03,-1.00) r=0.94m +[headless_play] t= 19.20s step= 960 trunk_z= 128.0mm grav_b=(-0.04,-0.09,-1.00) r=0.93m +[headless_play] t= 19.30s step= 965 trunk_z= 129.7mm grav_b=(-0.04,-0.09,-0.99) r=0.93m +[headless_play] t= 19.40s step= 970 trunk_z= 126.2mm grav_b=(-0.04,-0.06,-1.00) r=0.95m +[headless_play] t= 19.50s step= 975 trunk_z= 123.8mm grav_b=(+0.00,+0.01,-1.00) r=0.97m +[headless_play] t= 19.60s step= 980 trunk_z= 123.6mm grav_b=(-0.04,+0.01,-1.00) r=0.97m +[headless_play] t= 19.70s step= 985 trunk_z= 118.5mm grav_b=(-0.07,-0.08,-0.99) r=0.97m +[headless_play] t= 19.80s step= 990 trunk_z= 127.4mm grav_b=(-0.10,-0.08,-0.99) r=0.97m +[headless_play] t= 19.90s step= 995 trunk_z= 123.3mm grav_b=(-0.07,-0.03,-1.00) r=0.99m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.3mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.03,-0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..b0c30116bf8f3dd1b6f387bfcf89fb2a5197455b --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.203,-0.303,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 122.6mm grav_b=(-0.01,+0.00,-1.00) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.03,+0.09,-1.00) r=0.35m +[headless_play] t= 0.30s step= 15 trunk_z= 119.2mm grav_b=(-0.06,+0.05,-1.00) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(-0.08,-0.09,-0.99) r=0.34m +[headless_play] t= 0.50s step= 25 trunk_z= 120.6mm grav_b=(-0.06,-0.11,-0.99) r=0.34m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 0.70s step= 35 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=0.31m +[headless_play] t= 0.80s step= 40 trunk_z= 121.6mm grav_b=(-0.04,+0.06,-1.00) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.30m +[headless_play] t= 1.00s step= 50 trunk_z= 119.5mm grav_b=(-0.02,-0.11,-0.99) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 120.1mm grav_b=(-0.02,-0.08,-1.00) r=0.30m +[headless_play] t= 1.20s step= 60 trunk_z= 117.8mm grav_b=(-0.05,+0.06,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 123.2mm grav_b=(-0.08,+0.09,-0.99) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 119.6mm grav_b=(-0.06,+0.01,-1.00) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 118.5mm grav_b=(-0.06,-0.11,-0.99) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 118.6mm grav_b=(-0.00,-0.14,-0.99) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(+0.00,-0.07,-1.00) r=0.30m +[headless_play] t= 1.80s step= 90 trunk_z= 119.2mm grav_b=(-0.15,+0.13,-0.98) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 125.1mm grav_b=(-0.08,+0.04,-1.00) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 103.9mm grav_b=(-0.09,-0.11,-0.99) r=0.25m +[headless_play] t= 2.10s step= 105 trunk_z= 106.3mm grav_b=(-0.00,+0.03,-1.00) r=0.23m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(-0.03,+0.09,-1.00) r=0.21m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(-0.01,+0.06,-1.00) r=0.21m +[headless_play] t= 2.40s step= 120 trunk_z= 115.9mm grav_b=(-0.04,-0.11,-0.99) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 122.1mm grav_b=(-0.08,-0.09,-0.99) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 118.1mm grav_b=(-0.05,+0.08,-1.00) r=0.20m +[headless_play] t= 2.70s step= 135 trunk_z= 124.0mm grav_b=(-0.08,+0.12,-0.99) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.05,+0.08,-1.00) r=0.21m +[headless_play] t= 2.90s step= 145 trunk_z= 115.4mm grav_b=(-0.05,-0.08,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 119.5mm grav_b=(-0.00,-0.12,-0.99) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 115.5mm grav_b=(+0.04,+0.00,-1.00) r=0.24m +[headless_play] t= 3.20s step= 160 trunk_z= 122.0mm grav_b=(-0.05,+0.16,-0.99) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 126.1mm grav_b=(+0.01,+0.14,-0.99) r=0.25m +[headless_play] t= 3.40s step= 170 trunk_z= 120.8mm grav_b=(-0.06,+0.02,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 126.0mm grav_b=(-0.07,-0.08,-0.99) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 127.9mm grav_b=(-0.08,-0.08,-0.99) r=0.29m +[headless_play] t= 3.70s step= 185 trunk_z= 124.6mm grav_b=(-0.09,-0.01,-1.00) r=0.29m +[headless_play] t= 3.80s step= 190 trunk_z= 124.8mm grav_b=(-0.09,+0.07,-0.99) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 122.6mm grav_b=(-0.11,+0.05,-0.99) r=0.29m +[headless_play] t= 4.00s step= 200 trunk_z= 122.5mm grav_b=(-0.12,-0.10,-0.99) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 125.4mm grav_b=(-0.09,-0.14,-0.99) r=0.34m +[headless_play] t= 4.20s step= 210 trunk_z= 123.3mm grav_b=(-0.05,-0.13,-0.99) r=0.35m +[headless_play] t= 4.30s step= 215 trunk_z= 120.8mm grav_b=(-0.01,-0.07,-1.00) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 119.7mm grav_b=(-0.06,+0.06,-1.00) r=0.34m +[headless_play] t= 4.50s step= 225 trunk_z= 123.5mm grav_b=(-0.08,+0.09,-0.99) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.36m +[headless_play] t= 4.70s step= 235 trunk_z= 118.8mm grav_b=(-0.02,-0.09,-1.00) r=0.38m +[headless_play] t= 4.80s step= 240 trunk_z= 116.7mm grav_b=(+0.01,-0.08,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(-0.07,-0.01,-1.00) r=0.39m +[headless_play] t= 5.00s step= 250 trunk_z= 119.5mm grav_b=(-0.10,-0.01,-0.99) r=0.38m +[headless_play] t= 5.10s step= 255 trunk_z= 114.5mm grav_b=(-0.09,-0.09,-0.99) r=0.38m +[headless_play] t= 5.20s step= 260 trunk_z= 118.4mm grav_b=(-0.09,-0.11,-0.99) r=0.38m +[headless_play] t= 5.30s step= 265 trunk_z= 118.6mm grav_b=(-0.08,-0.07,-0.99) r=0.37m +[headless_play] t= 5.40s step= 270 trunk_z= 114.7mm grav_b=(-0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 5.50s step= 275 trunk_z= 118.8mm grav_b=(-0.05,+0.06,-1.00) r=0.34m +[headless_play] t= 5.60s step= 280 trunk_z= 118.4mm grav_b=(-0.03,+0.04,-1.00) r=0.35m +[headless_play] t= 5.70s step= 285 trunk_z= 113.2mm grav_b=(-0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 5.80s step= 290 trunk_z= 115.7mm grav_b=(+0.01,-0.12,-0.99) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 115.4mm grav_b=(+0.04,-0.09,-1.00) r=0.38m +[headless_play] t= 6.00s step= 300 trunk_z= 114.8mm grav_b=(-0.07,+0.07,-1.00) r=0.38m +[headless_play] t= 6.10s step= 305 trunk_z= 123.8mm grav_b=(-0.10,+0.13,-0.99) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 121.2mm grav_b=(-0.08,+0.04,-1.00) r=0.40m +[headless_play] t= 6.30s step= 315 trunk_z= 120.8mm grav_b=(-0.07,-0.10,-0.99) r=0.41m +[headless_play] t= 6.40s step= 320 trunk_z= 121.8mm grav_b=(-0.06,-0.13,-0.99) r=0.42m +[headless_play] t= 6.50s step= 325 trunk_z= 120.3mm grav_b=(+0.00,-0.13,-0.99) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 119.4mm grav_b=(-0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 6.70s step= 335 trunk_z= 119.7mm grav_b=(-0.03,+0.05,-1.00) r=0.45m +[headless_play] t= 6.80s step= 340 trunk_z= 117.8mm grav_b=(-0.05,-0.08,-1.00) r=0.47m +[headless_play] t= 6.90s step= 345 trunk_z= 124.6mm grav_b=(-0.06,-0.16,-0.99) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 126.0mm grav_b=(-0.07,-0.16,-0.99) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 124.0mm grav_b=(-0.04,-0.10,-0.99) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 118.5mm grav_b=(-0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 125.0mm grav_b=(-0.09,+0.05,-0.99) r=0.51m +[headless_play] t= 7.40s step= 370 trunk_z= 120.0mm grav_b=(-0.11,-0.02,-0.99) r=0.50m +[headless_play] t= 7.50s step= 375 trunk_z= 125.7mm grav_b=(-0.19,-0.18,-0.96) r=0.48m +[headless_play] t= 7.60s step= 380 trunk_z= 130.2mm grav_b=(-0.32,-0.22,-0.92) r=0.47m +[headless_play] t= 7.70s step= 385 trunk_z= 111.7mm grav_b=(-0.37,+0.02,-0.93) r=0.42m +[headless_play] t= 7.80s step= 390 trunk_z= 78.2mm grav_b=(-0.44,+0.17,-0.88) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 88.8mm grav_b=(-0.12,+0.23,-0.97) r=0.40m +[headless_play] t= 8.00s step= 400 trunk_z= 105.2mm grav_b=(-0.03,-0.06,-1.00) r=0.40m +[headless_play] t= 8.10s step= 405 trunk_z= 122.0mm grav_b=(-0.08,-0.05,-1.00) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 122.7mm grav_b=(+0.00,-0.08,-1.00) r=0.42m +[headless_play] t= 8.30s step= 415 trunk_z= 119.9mm grav_b=(-0.05,-0.03,-1.00) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 123.0mm grav_b=(-0.09,+0.11,-0.99) r=0.42m +[headless_play] t= 8.50s step= 425 trunk_z= 125.0mm grav_b=(-0.12,+0.08,-0.99) r=0.44m +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.07,-0.05,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 120.7mm grav_b=(-0.05,-0.11,-0.99) r=0.48m +[headless_play] t= 8.80s step= 440 trunk_z= 118.9mm grav_b=(+0.03,-0.11,-0.99) r=0.49m +[headless_play] t= 8.90s step= 445 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 9.00s step= 450 trunk_z= 123.4mm grav_b=(-0.07,+0.13,-0.99) r=0.51m +[headless_play] t= 9.10s step= 455 trunk_z= 124.3mm grav_b=(-0.09,+0.09,-0.99) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 118.7mm grav_b=(-0.07,-0.06,-1.00) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 126.3mm grav_b=(-0.14,-0.16,-0.98) r=0.55m +[headless_play] t= 9.40s step= 470 trunk_z= 132.7mm grav_b=(-0.22,-0.32,-0.92) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 133.1mm grav_b=(-0.29,-0.33,-0.90) r=0.52m +[headless_play] t= 9.60s step= 480 trunk_z= 97.2mm grav_b=(-0.32,+0.05,-0.94) r=0.47m +[headless_play] t= 9.70s step= 485 trunk_z= 95.5mm grav_b=(-0.38,+0.25,-0.89) r=0.46m +[headless_play] t= 9.80s step= 490 trunk_z= 98.3mm grav_b=(-0.11,+0.10,-0.99) r=0.46m +[headless_play] t= 9.90s step= 495 trunk_z= 108.9mm grav_b=(-0.04,-0.01,-1.00) r=0.48m +[headless_play] t= 10.00s step= 500 trunk_z= 113.6mm grav_b=(-0.04,-0.04,-1.00) r=0.49m +[headless_play] t= 10.10s step= 505 trunk_z= 111.8mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 10.20s step= 510 trunk_z= 118.6mm grav_b=(-0.03,+0.08,-1.00) r=0.50m +[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(-0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 10.40s step= 520 trunk_z= 121.0mm grav_b=(+0.02,-0.04,-1.00) r=0.55m +[headless_play] t= 10.50s step= 525 trunk_z= 121.7mm grav_b=(-0.08,+0.04,-1.00) r=0.56m +[headless_play] t= 10.60s step= 530 trunk_z= 123.4mm grav_b=(-0.08,+0.11,-0.99) r=0.58m +[headless_play] t= 10.70s step= 535 trunk_z= 123.2mm grav_b=(-0.08,+0.06,-0.99) r=0.59m +[headless_play] t= 10.80s step= 540 trunk_z= 124.0mm grav_b=(-0.08,-0.08,-0.99) r=0.62m +[headless_play] t= 10.90s step= 545 trunk_z= 123.7mm grav_b=(+0.00,-0.00,-1.00) r=0.64m +[headless_play] t= 11.00s step= 550 trunk_z= 124.2mm grav_b=(-0.02,+0.12,-0.99) r=0.66m +[headless_play] t= 11.10s step= 555 trunk_z= 127.5mm grav_b=(-0.03,+0.08,-1.00) r=0.68m +[headless_play] t= 11.20s step= 560 trunk_z= 119.8mm grav_b=(-0.07,-0.03,-1.00) r=0.70m +[headless_play] t= 11.30s step= 565 trunk_z= 127.1mm grav_b=(-0.08,-0.08,-0.99) r=0.72m +[headless_play] t= 11.40s step= 570 trunk_z= 125.4mm grav_b=(-0.06,-0.03,-1.00) r=0.73m +[headless_play] t= 11.50s step= 575 trunk_z= 122.3mm grav_b=(-0.08,+0.07,-0.99) r=0.74m +[headless_play] t= 11.60s step= 580 trunk_z= 126.5mm grav_b=(-0.11,+0.09,-0.99) r=0.75m +[headless_play] t= 11.70s step= 585 trunk_z= 120.7mm grav_b=(-0.05,-0.00,-1.00) r=0.77m +[headless_play] t= 11.80s step= 590 trunk_z= 124.3mm grav_b=(-0.03,-0.12,-0.99) r=0.79m +[headless_play] t= 11.90s step= 595 trunk_z= 129.7mm grav_b=(-0.00,-0.15,-0.99) r=0.81m +[headless_play] t= 12.00s step= 600 trunk_z= 132.5mm grav_b=(-0.05,-0.07,-1.00) r=0.82m +[headless_play] t= 12.10s step= 605 trunk_z= 122.1mm grav_b=(-0.05,+0.06,-1.00) r=0.84m +[headless_play] t= 12.20s step= 610 trunk_z= 128.8mm grav_b=(-0.10,+0.13,-0.99) r=0.85m +[headless_play] t= 12.30s step= 615 trunk_z= 125.0mm grav_b=(-0.10,+0.06,-0.99) r=0.86m +[headless_play] t= 12.40s step= 620 trunk_z= 124.1mm grav_b=(-0.03,-0.09,-1.00) r=0.88m +[headless_play] t= 12.50s step= 625 trunk_z= 126.7mm grav_b=(-0.01,-0.05,-1.00) r=0.89m +[headless_play] t= 12.60s step= 630 trunk_z= 119.5mm grav_b=(-0.07,+0.07,-1.00) r=0.91m +[headless_play] t= 12.70s step= 635 trunk_z= 127.3mm grav_b=(-0.09,+0.16,-0.98) r=0.93m +[headless_play] t= 12.80s step= 640 trunk_z= 127.8mm grav_b=(-0.10,+0.11,-0.99) r=0.95m +[headless_play] t= 12.90s step= 645 trunk_z= 118.9mm grav_b=(-0.07,-0.01,-1.00) r=0.96m +[headless_play] t= 13.00s step= 650 trunk_z= 124.2mm grav_b=(-0.05,-0.07,-1.00) r=0.97m +[headless_play] t= 13.10s step= 655 trunk_z= 120.4mm grav_b=(-0.02,-0.00,-1.00) r=0.99m +[headless_play] t= 13.20s step= 660 trunk_z= 123.6mm grav_b=(-0.08,+0.10,-0.99) r=1.00m +[headless_play] t= 13.30s step= 665 trunk_z= 123.1mm grav_b=(-0.10,+0.02,-0.99) r=0.99m +[headless_play] t= 13.40s step= 670 trunk_z= 123.1mm grav_b=(-0.08,-0.12,-0.99) r=1.00m +[headless_play] t= 13.50s step= 675 trunk_z= 128.8mm grav_b=(-0.06,-0.14,-0.99) r=1.01m +[headless_play] t= 13.60s step= 680 trunk_z= 128.9mm grav_b=(-0.05,-0.08,-1.00) r=1.02m +[headless_play] t= 13.70s step= 685 trunk_z= 119.5mm grav_b=(-0.04,+0.05,-1.00) r=1.05m +[headless_play] t= 13.80s step= 690 trunk_z= 129.0mm grav_b=(-0.06,+0.08,-1.00) r=1.06m +[headless_play] t= 13.90s step= 695 trunk_z= 125.6mm grav_b=(-0.09,+0.04,-0.99) r=1.07m +[headless_play] t= 14.00s step= 700 trunk_z= 123.3mm grav_b=(-0.07,-0.08,-0.99) r=1.08m +[headless_play] t= 14.10s step= 705 trunk_z= 127.2mm grav_b=(-0.06,-0.05,-1.00) r=1.09m +[headless_play] t= 14.20s step= 710 trunk_z= 120.1mm grav_b=(-0.08,+0.03,-1.00) r=1.11m +[headless_play] t= 14.30s step= 715 trunk_z= 126.2mm grav_b=(-0.08,+0.06,-0.99) r=1.12m +[headless_play] t= 14.40s step= 720 trunk_z= 123.4mm grav_b=(-0.08,+0.04,-1.00) r=1.13m +[headless_play] t= 14.50s step= 725 trunk_z= 124.5mm grav_b=(-0.05,-0.09,-0.99) r=1.14m +[headless_play] t= 14.60s step= 730 trunk_z= 128.0mm grav_b=(-0.03,-0.07,-1.00) r=1.16m +[headless_play] t= 14.70s step= 735 trunk_z= 124.4mm grav_b=(-0.12,-0.03,-0.99) r=1.16m +[headless_play] t= 14.80s step= 740 trunk_z= 124.3mm grav_b=(-0.11,+0.04,-0.99) r=1.16m +[headless_play] t= 14.90s step= 745 trunk_z= 122.6mm grav_b=(-0.10,+0.02,-1.00) r=1.17m +[headless_play] t= 15.00s step= 750 trunk_z= 124.1mm grav_b=(-0.08,-0.09,-0.99) r=1.17m +[headless_play] t= 15.10s step= 755 trunk_z= 126.4mm grav_b=(-0.05,-0.07,-1.00) r=1.19m +[headless_play] t= 15.20s step= 760 trunk_z= 118.5mm grav_b=(-0.07,+0.06,-1.00) r=1.21m +[headless_play] t= 15.30s step= 765 trunk_z= 127.2mm grav_b=(-0.07,+0.10,-0.99) r=1.23m +[headless_play] t= 15.40s step= 770 trunk_z= 125.5mm grav_b=(-0.07,+0.05,-1.00) r=1.24m +[headless_play] t= 15.50s step= 775 trunk_z= 120.1mm grav_b=(-0.05,+0.01,-1.00) r=1.25m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(-0.04,+0.03,-1.00) r=1.25m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=1.25m +[headless_play] t= 15.80s step= 790 trunk_z= 117.7mm grav_b=(-0.04,-0.00,-1.00) r=1.25m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.06,-0.01,-1.00) r=1.25m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=1.25m +[headless_play] t= 16.10s step= 805 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=1.25m +[headless_play] t= 16.20s step= 810 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=1.25m +[headless_play] t= 16.30s step= 815 trunk_z= 118.7mm grav_b=(-0.05,-0.02,-1.00) r=1.25m +[headless_play] t= 16.40s step= 820 trunk_z= 121.7mm grav_b=(-0.06,-0.05,-1.00) r=1.25m +[headless_play] t= 16.50s step= 825 trunk_z= 119.2mm grav_b=(-0.06,-0.01,-1.00) r=1.25m +[headless_play] t= 16.60s step= 830 trunk_z= 119.0mm grav_b=(-0.06,-0.01,-1.00) r=1.25m +[headless_play] t= 16.70s step= 835 trunk_z= 118.8mm grav_b=(-0.06,-0.02,-1.00) r=1.25m +[headless_play] t= 16.80s step= 840 trunk_z= 118.7mm grav_b=(-0.06,-0.02,-1.00) r=1.25m +[headless_play] t= 16.90s step= 845 trunk_z= 121.6mm grav_b=(+0.01,-0.02,-1.00) r=1.26m +[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(-0.05,+0.06,-1.00) r=1.27m +[headless_play] t= 17.10s step= 855 trunk_z= 117.5mm grav_b=(-0.06,+0.08,-1.00) r=1.28m +[headless_play] t= 17.20s step= 860 trunk_z= 116.4mm grav_b=(-0.11,+0.00,-0.99) r=1.29m +[headless_play] t= 17.30s step= 865 trunk_z= 119.4mm grav_b=(-0.11,-0.03,-0.99) r=1.29m +[headless_play] t= 17.40s step= 870 trunk_z= 118.4mm grav_b=(-0.09,-0.00,-1.00) r=1.30m +[headless_play] t= 17.50s step= 875 trunk_z= 118.3mm grav_b=(-0.07,-0.00,-1.00) r=1.30m +[headless_play] t= 17.60s step= 880 trunk_z= 119.3mm grav_b=(-0.04,-0.01,-1.00) r=1.30m +[headless_play] t= 17.70s step= 885 trunk_z= 119.1mm grav_b=(-0.06,+0.02,-1.00) r=1.30m +[headless_play] t= 17.80s step= 890 trunk_z= 118.0mm grav_b=(-0.09,+0.02,-1.00) r=1.30m +[headless_play] t= 17.90s step= 895 trunk_z= 117.1mm grav_b=(-0.09,-0.03,-1.00) r=1.30m +[headless_play] t= 18.00s step= 900 trunk_z= 117.4mm grav_b=(-0.06,-0.02,-1.00) r=1.31m +[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(-0.07,-0.02,-1.00) r=1.31m +[headless_play] t= 18.20s step= 910 trunk_z= 117.0mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 18.50s step= 925 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=1.31m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(-0.09,-0.03,-1.00) r=1.31m +[headless_play] t= 18.70s step= 935 trunk_z= 117.4mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 18.80s step= 940 trunk_z= 117.4mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 18.90s step= 945 trunk_z= 117.3mm grav_b=(-0.09,-0.02,-1.00) r=1.31m +[headless_play] t= 19.00s step= 950 trunk_z= 117.3mm grav_b=(-0.08,-0.02,-1.00) r=1.31m +[headless_play] t= 19.10s step= 955 trunk_z= 117.3mm grav_b=(-0.09,-0.02,-1.00) r=1.31m +[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(-0.09,-0.02,-1.00) r=1.31m +[headless_play] t= 19.30s step= 965 trunk_z= 117.3mm grav_b=(-0.09,-0.02,-1.00) r=1.31m +[headless_play] t= 19.40s step= 970 trunk_z= 117.0mm grav_b=(-0.15,-0.01,-0.99) r=1.30m +[headless_play] t= 19.50s step= 975 trunk_z= 117.9mm grav_b=(-0.12,-0.00,-0.99) r=1.30m +[headless_play] t= 19.60s step= 980 trunk_z= 117.2mm grav_b=(-0.11,-0.01,-0.99) r=1.31m +[headless_play] t= 19.70s step= 985 trunk_z= 117.2mm grav_b=(-0.06,-0.01,-1.00) r=1.31m +[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=1.31m +[headless_play] t= 19.90s step= 995 trunk_z= 117.4mm grav_b=(-0.06,-0.01,-1.00) r=1.31m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.2mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 115.1mm grav_b=(-0.04,+0.04,-1.00) r=0.54m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..87bac08265922d0e3545f564634337b215f61c14 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.413,-0.399,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 124.5mm grav_b=(-0.01,-0.00,-1.00) r=0.57m +[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= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.58m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(-0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 117.9mm grav_b=(-0.12,-0.01,-0.99) r=0.57m +[headless_play] t= 0.80s step= 40 trunk_z= 118.7mm grav_b=(-0.17,+0.01,-0.99) r=0.57m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(-0.16,+0.08,-0.98) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 88.6mm grav_b=(-0.09,+0.20,-0.98) r=0.54m +[headless_play] t= 1.10s step= 55 trunk_z= 96.0mm grav_b=(-0.08,+0.11,-0.99) r=0.54m +[headless_play] t= 1.20s step= 60 trunk_z= 100.2mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 105.2mm grav_b=(+0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 1.40s step= 70 trunk_z= 107.9mm grav_b=(+0.03,-0.02,-1.00) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 111.0mm grav_b=(+0.02,-0.00,-1.00) r=0.56m +[headless_play] t= 1.60s step= 80 trunk_z= 114.6mm grav_b=(-0.12,+0.01,-0.99) r=0.56m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(-0.15,+0.01,-0.99) r=0.57m +[headless_play] t= 1.80s step= 90 trunk_z= 106.5mm grav_b=(-0.08,-0.07,-0.99) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 115.3mm grav_b=(-0.08,-0.03,-1.00) r=0.59m +[headless_play] t= 2.00s step= 100 trunk_z= 100.2mm grav_b=(+0.00,+0.07,-1.00) r=0.59m +[headless_play] t= 2.10s step= 105 trunk_z= 104.5mm grav_b=(-0.03,+0.02,-1.00) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 105.9mm grav_b=(+0.01,-0.04,-1.00) r=0.61m +[headless_play] t= 2.30s step= 115 trunk_z= 105.7mm grav_b=(+0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 108.5mm grav_b=(+0.06,+0.00,-1.00) r=0.60m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.01,-0.05,-1.00) r=0.62m +[headless_play] t= 2.60s step= 130 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 2.70s step= 135 trunk_z= 115.7mm grav_b=(-0.04,+0.01,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 116.4mm grav_b=(-0.05,+0.01,-1.00) r=0.62m +[headless_play] t= 2.90s step= 145 trunk_z= 116.5mm grav_b=(-0.04,+0.01,-1.00) r=0.62m +[headless_play] t= 3.00s step= 150 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 3.10s step= 155 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.62m +[headless_play] t= 3.20s step= 160 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 3.30s step= 165 trunk_z= 118.2mm grav_b=(+0.02,-0.03,-1.00) r=0.62m +[headless_play] t= 3.40s step= 170 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.62m +[headless_play] t= 3.50s step= 175 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00) r=0.62m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(-0.07,+0.00,-1.00) r=0.62m +[headless_play] t= 3.80s step= 190 trunk_z= 116.8mm grav_b=(-0.06,+0.00,-1.00) r=0.62m +[headless_play] t= 3.90s step= 195 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 116.6mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 4.10s step= 205 trunk_z= 116.7mm grav_b=(-0.02,-0.00,-1.00) r=0.62m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(-0.12,-0.02,-0.99) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(-0.12,+0.00,-0.99) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 117.9mm grav_b=(-0.15,+0.03,-0.99) r=0.63m +[headless_play] t= 4.50s step= 225 trunk_z= 110.9mm grav_b=(-0.04,+0.17,-0.98) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 117.6mm grav_b=(-0.12,+0.18,-0.98) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 120.3mm grav_b=(-0.09,+0.08,-0.99) r=0.64m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(-0.08,-0.05,-1.00) r=0.65m +[headless_play] t= 4.90s step= 245 trunk_z= 119.3mm grav_b=(-0.12,-0.03,-0.99) r=0.65m +[headless_play] t= 5.00s step= 250 trunk_z= 116.1mm grav_b=(-0.12,+0.08,-0.99) r=0.64m +[headless_play] t= 5.10s step= 255 trunk_z= 127.2mm grav_b=(-0.10,+0.12,-0.99) r=0.64m +[headless_play] t= 5.20s step= 260 trunk_z= 125.6mm grav_b=(-0.09,+0.07,-0.99) r=0.65m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(-0.11,-0.06,-0.99) r=0.66m +[headless_play] t= 5.40s step= 270 trunk_z= 123.8mm grav_b=(-0.11,-0.08,-0.99) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 121.8mm grav_b=(-0.09,-0.07,-0.99) r=0.66m +[headless_play] t= 5.60s step= 280 trunk_z= 118.2mm grav_b=(-0.08,+0.07,-0.99) r=0.64m +[headless_play] t= 5.70s step= 285 trunk_z= 124.2mm grav_b=(-0.07,+0.08,-0.99) r=0.63m +[headless_play] t= 5.80s step= 290 trunk_z= 122.8mm grav_b=(-0.01,+0.06,-1.00) r=0.62m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=0.61m +[headless_play] t= 6.00s step= 300 trunk_z= 122.5mm grav_b=(-0.05,-0.05,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 116.3mm grav_b=(-0.07,+0.05,-1.00) r=0.58m +[headless_play] t= 6.20s step= 310 trunk_z= 124.2mm grav_b=(-0.08,+0.10,-0.99) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 121.3mm grav_b=(-0.07,+0.02,-1.00) r=0.57m +[headless_play] t= 6.40s step= 320 trunk_z= 122.8mm grav_b=(-0.09,-0.10,-0.99) r=0.57m +[headless_play] t= 6.50s step= 325 trunk_z= 123.1mm grav_b=(-0.05,-0.10,-0.99) r=0.56m +[headless_play] t= 6.60s step= 330 trunk_z= 120.0mm grav_b=(+0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 6.70s step= 335 trunk_z= 121.8mm grav_b=(-0.02,+0.10,-0.99) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 125.3mm grav_b=(-0.05,+0.07,-1.00) r=0.49m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(-0.11,-0.03,-0.99) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 123.2mm grav_b=(-0.12,-0.07,-0.99) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 118.4mm grav_b=(-0.09,+0.00,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 123.0mm grav_b=(-0.06,+0.04,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 120.4mm grav_b=(-0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 7.40s step= 370 trunk_z= 126.4mm grav_b=(-0.14,-0.17,-0.98) r=0.54m +[headless_play] t= 7.50s step= 375 trunk_z= 130.2mm grav_b=(-0.18,-0.14,-0.97) r=0.55m +[headless_play] t= 7.60s step= 380 trunk_z= 131.2mm grav_b=(-0.16,-0.09,-0.98) r=0.55m +[headless_play] t= 7.70s step= 385 trunk_z= 113.7mm grav_b=(-0.03,+0.02,-1.00) r=0.58m +[headless_play] t= 7.80s step= 390 trunk_z= 111.5mm grav_b=(-0.09,+0.00,-1.00) r=0.60m +[headless_play] t= 7.90s step= 395 trunk_z= 105.1mm grav_b=(-0.07,-0.02,-1.00) r=0.63m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(-0.06,-0.09,-0.99) r=0.64m +[headless_play] t= 8.10s step= 405 trunk_z= 119.9mm grav_b=(-0.04,-0.03,-1.00) r=0.63m +[headless_play] t= 8.20s step= 410 trunk_z= 118.1mm grav_b=(-0.07,+0.06,-1.00) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 123.2mm grav_b=(-0.11,+0.06,-0.99) r=0.62m +[headless_play] t= 8.40s step= 420 trunk_z= 119.2mm grav_b=(-0.09,-0.06,-0.99) r=0.63m +[headless_play] t= 8.50s step= 425 trunk_z= 125.3mm grav_b=(-0.11,-0.07,-0.99) r=0.63m +[headless_play] t= 8.60s step= 430 trunk_z= 122.2mm grav_b=(-0.09,-0.03,-1.00) r=0.62m +[headless_play] t= 8.70s step= 435 trunk_z= 125.4mm grav_b=(-0.07,+0.08,-0.99) r=0.60m +[headless_play] t= 8.80s step= 440 trunk_z= 125.8mm grav_b=(-0.07,+0.05,-1.00) r=0.59m +[headless_play] t= 8.90s step= 445 trunk_z= 118.1mm grav_b=(-0.09,-0.04,-1.00) r=0.61m +[headless_play] t= 9.00s step= 450 trunk_z= 128.8mm grav_b=(-0.13,-0.13,-0.98) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 130.6mm grav_b=(-0.15,-0.15,-0.98) r=0.62m +[headless_play] t= 9.20s step= 460 trunk_z= 129.5mm grav_b=(-0.12,-0.12,-0.98) r=0.62m +[headless_play] t= 9.30s step= 465 trunk_z= 126.3mm grav_b=(-0.09,-0.08,-0.99) r=0.61m +[headless_play] t= 9.40s step= 470 trunk_z= 120.8mm grav_b=(-0.09,+0.02,-1.00) r=0.58m +[headless_play] t= 9.50s step= 475 trunk_z= 124.8mm grav_b=(-0.11,+0.04,-0.99) r=0.58m +[headless_play] t= 9.60s step= 480 trunk_z= 120.2mm grav_b=(-0.12,+0.01,-0.99) r=0.60m +[headless_play] t= 9.70s step= 485 trunk_z= 119.0mm grav_b=(-0.12,-0.04,-0.99) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 118.3mm grav_b=(-0.06,-0.00,-1.00) r=0.62m +[headless_play] t= 9.90s step= 495 trunk_z= 108.4mm grav_b=(-0.04,+0.10,-0.99) r=0.63m +[headless_play] t= 10.00s step= 500 trunk_z= 115.3mm grav_b=(-0.04,+0.08,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 111.2mm grav_b=(+0.00,-0.05,-1.00) r=0.63m +[headless_play] t= 10.20s step= 510 trunk_z= 116.2mm grav_b=(-0.05,-0.05,-1.00) r=0.63m +[headless_play] t= 10.30s step= 515 trunk_z= 111.7mm grav_b=(-0.07,+0.08,-0.99) r=0.62m +[headless_play] t= 10.40s step= 520 trunk_z= 122.0mm grav_b=(-0.06,+0.16,-0.99) r=0.61m +[headless_play] t= 10.50s step= 525 trunk_z= 122.5mm grav_b=(-0.07,+0.13,-0.99) r=0.60m +[headless_play] t= 10.60s step= 530 trunk_z= 115.1mm grav_b=(-0.01,+0.01,-1.00) r=0.60m +[headless_play] t= 10.70s step= 535 trunk_z= 119.1mm grav_b=(-0.03,-0.09,-1.00) r=0.60m +[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(-0.02,-0.08,-1.00) r=0.60m +[headless_play] t= 10.90s step= 545 trunk_z= 114.1mm grav_b=(-0.08,+0.03,-1.00) r=0.58m +[headless_play] t= 11.00s step= 550 trunk_z= 126.1mm grav_b=(-0.17,+0.07,-0.98) r=0.59m +[headless_play] t= 11.10s step= 555 trunk_z= 113.7mm grav_b=(-0.07,-0.04,-1.00) r=0.62m +[headless_play] t= 11.20s step= 560 trunk_z= 112.4mm grav_b=(-0.04,-0.02,-1.00) r=0.63m +[headless_play] t= 11.30s step= 565 trunk_z= 109.8mm grav_b=(-0.03,+0.02,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 120.9mm grav_b=(-0.05,+0.09,-0.99) r=0.62m +[headless_play] t= 11.50s step= 575 trunk_z= 121.0mm grav_b=(-0.05,+0.02,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 122.6mm grav_b=(-0.09,-0.08,-0.99) r=0.63m +[headless_play] t= 11.70s step= 585 trunk_z= 123.7mm grav_b=(-0.09,-0.07,-0.99) r=0.63m +[headless_play] t= 11.80s step= 590 trunk_z= 118.3mm grav_b=(-0.10,+0.04,-0.99) r=0.62m +[headless_play] t= 11.90s step= 595 trunk_z= 125.3mm grav_b=(-0.09,+0.09,-0.99) r=0.61m +[headless_play] t= 12.00s step= 600 trunk_z= 121.5mm grav_b=(-0.08,+0.04,-1.00) r=0.60m +[headless_play] t= 12.10s step= 605 trunk_z= 123.5mm grav_b=(-0.08,-0.07,-0.99) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 124.1mm grav_b=(-0.07,-0.05,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 119.0mm grav_b=(-0.06,+0.07,-1.00) r=0.57m +[headless_play] t= 12.40s step= 620 trunk_z= 125.2mm grav_b=(-0.08,+0.08,-0.99) r=0.56m +[headless_play] t= 12.50s step= 625 trunk_z= 123.1mm grav_b=(-0.04,+0.02,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 125.5mm grav_b=(-0.04,-0.07,-1.00) r=0.53m +[headless_play] t= 12.70s step= 635 trunk_z= 128.5mm grav_b=(-0.07,-0.05,-1.00) r=0.52m +[headless_play] t= 12.80s step= 640 trunk_z= 119.8mm grav_b=(-0.11,+0.03,-0.99) r=0.50m +[headless_play] t= 12.90s step= 645 trunk_z= 123.5mm grav_b=(-0.11,+0.07,-0.99) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 120.8mm grav_b=(-0.11,+0.03,-0.99) r=0.50m +[headless_play] t= 13.10s step= 655 trunk_z= 123.2mm grav_b=(-0.18,-0.05,-0.98) r=0.51m +[headless_play] t= 13.20s step= 660 trunk_z= 124.6mm grav_b=(-0.13,-0.01,-0.99) r=0.51m +[headless_play] t= 13.30s step= 665 trunk_z= 122.0mm grav_b=(-0.09,+0.05,-0.99) r=0.51m +[headless_play] t= 13.40s step= 670 trunk_z= 125.3mm grav_b=(-0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 13.50s step= 675 trunk_z= 121.8mm grav_b=(-0.09,-0.07,-0.99) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 127.7mm grav_b=(-0.07,-0.13,-0.99) r=0.55m +[headless_play] t= 13.70s step= 685 trunk_z= 129.1mm grav_b=(-0.04,-0.13,-0.99) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 131.5mm grav_b=(-0.07,-0.07,-1.00) r=0.54m +[headless_play] t= 13.90s step= 695 trunk_z= 122.2mm grav_b=(-0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 14.00s step= 700 trunk_z= 128.2mm grav_b=(-0.05,+0.08,-1.00) r=0.51m +[headless_play] t= 14.10s step= 705 trunk_z= 123.1mm grav_b=(-0.13,+0.01,-0.99) r=0.51m +[headless_play] t= 14.20s step= 710 trunk_z= 124.3mm grav_b=(-0.11,-0.08,-0.99) r=0.53m +[headless_play] t= 14.30s step= 715 trunk_z= 128.2mm grav_b=(-0.04,-0.09,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 127.8mm grav_b=(-0.05,-0.03,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 120.0mm grav_b=(-0.05,+0.09,-0.99) r=0.53m +[headless_play] t= 14.60s step= 730 trunk_z= 125.3mm grav_b=(-0.07,+0.09,-0.99) r=0.53m +[headless_play] t= 14.70s step= 735 trunk_z= 120.1mm grav_b=(-0.12,+0.00,-0.99) r=0.55m +[headless_play] t= 14.80s step= 740 trunk_z= 125.4mm grav_b=(-0.10,-0.08,-0.99) r=0.57m +[headless_play] t= 14.90s step= 745 trunk_z= 126.0mm grav_b=(-0.07,-0.05,-1.00) r=0.58m +[headless_play] t= 15.00s step= 750 trunk_z= 120.8mm grav_b=(-0.06,+0.03,-1.00) r=0.58m +[headless_play] t= 15.10s step= 755 trunk_z= 122.7mm grav_b=(-0.05,+0.01,-1.00) r=0.58m +[headless_play] t= 15.20s step= 760 trunk_z= 118.0mm grav_b=(-0.09,-0.08,-0.99) r=0.61m +[headless_play] t= 15.30s step= 765 trunk_z= 125.8mm grav_b=(-0.12,-0.10,-0.99) r=0.62m +[headless_play] t= 15.40s step= 770 trunk_z= 124.4mm grav_b=(-0.10,-0.02,-0.99) r=0.62m +[headless_play] t= 15.50s step= 775 trunk_z= 123.4mm grav_b=(-0.08,+0.09,-0.99) r=0.63m +[headless_play] t= 15.60s step= 780 trunk_z= 127.2mm grav_b=(-0.04,+0.08,-1.00) r=0.64m +[headless_play] t= 15.70s step= 785 trunk_z= 119.0mm grav_b=(-0.05,-0.06,-1.00) r=0.68m +[headless_play] t= 15.80s step= 790 trunk_z= 127.5mm grav_b=(-0.08,-0.14,-0.99) r=0.70m +[headless_play] t= 15.90s step= 795 trunk_z= 125.4mm grav_b=(-0.09,-0.12,-0.99) r=0.70m +[headless_play] t= 16.00s step= 800 trunk_z= 122.6mm grav_b=(-0.06,-0.07,-1.00) r=0.70m +[headless_play] t= 16.10s step= 805 trunk_z= 119.0mm grav_b=(-0.07,+0.06,-1.00) r=0.69m +[headless_play] t= 16.20s step= 810 trunk_z= 123.8mm grav_b=(-0.06,+0.07,-1.00) r=0.70m +[headless_play] t= 16.30s step= 815 trunk_z= 117.9mm grav_b=(-0.07,-0.03,-1.00) r=0.71m +[headless_play] t= 16.40s step= 820 trunk_z= 124.5mm grav_b=(-0.12,-0.12,-0.99) r=0.73m +[headless_play] t= 16.50s step= 825 trunk_z= 128.2mm grav_b=(-0.16,-0.19,-0.97) r=0.73m +[headless_play] t= 16.60s step= 830 trunk_z= 135.0mm grav_b=(-0.23,-0.37,-0.90) r=0.73m +[headless_play] t= 16.70s step= 835 trunk_z= 133.4mm grav_b=(-0.36,-0.34,-0.87) r=0.73m +[headless_play] t= 16.80s step= 840 trunk_z= 78.4mm grav_b=(-0.48,-0.06,-0.88) r=0.72m +[headless_play] t= 16.90s step= 845 trunk_z= 84.4mm grav_b=(-0.34,+0.03,-0.94) r=0.74m +[headless_play] t= 17.00s step= 850 trunk_z= 87.5mm grav_b=(-0.04,+0.02,-1.00) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 109.1mm grav_b=(-0.06,+0.07,-1.00) r=0.76m +[headless_play] t= 17.20s step= 860 trunk_z= 113.2mm grav_b=(-0.03,+0.13,-0.99) r=0.75m +[headless_play] t= 17.30s step= 865 trunk_z= 117.7mm grav_b=(+0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 17.40s step= 870 trunk_z= 116.9mm grav_b=(-0.02,-0.11,-0.99) r=0.78m +[headless_play] t= 17.50s step= 875 trunk_z= 120.3mm grav_b=(-0.05,-0.11,-0.99) r=0.79m +[headless_play] t= 17.60s step= 880 trunk_z= 116.6mm grav_b=(-0.03,-0.05,-1.00) r=0.79m +[headless_play] t= 17.70s step= 885 trunk_z= 117.7mm grav_b=(-0.04,+0.08,-1.00) r=0.78m +[headless_play] t= 17.80s step= 890 trunk_z= 122.4mm grav_b=(-0.03,+0.07,-1.00) r=0.79m +[headless_play] t= 17.90s step= 895 trunk_z= 115.5mm grav_b=(+0.06,-0.06,-1.00) r=0.82m +[headless_play] t= 18.00s step= 900 trunk_z= 126.9mm grav_b=(-0.00,-0.13,-0.99) r=0.83m +[headless_play] t= 18.10s step= 905 trunk_z= 130.1mm grav_b=(-0.09,-0.06,-0.99) r=0.85m +[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(-0.08,+0.06,-1.00) r=0.85m +[headless_play] t= 18.30s step= 915 trunk_z= 123.5mm grav_b=(-0.09,+0.06,-0.99) r=0.86m +[headless_play] t= 18.40s step= 920 trunk_z= 118.3mm grav_b=(-0.08,-0.05,-1.00) r=0.88m +[headless_play] t= 18.50s step= 925 trunk_z= 122.8mm grav_b=(-0.07,-0.08,-0.99) r=0.88m +[headless_play] t= 18.60s step= 930 trunk_z= 121.9mm grav_b=(-0.06,-0.08,-0.99) r=0.89m +[headless_play] t= 18.70s step= 935 trunk_z= 117.1mm grav_b=(-0.04,-0.02,-1.00) r=0.89m +[headless_play] t= 18.80s step= 940 trunk_z= 119.0mm grav_b=(-0.03,+0.07,-1.00) r=0.90m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(-0.01,+0.03,-1.00) r=0.91m +[headless_play] t= 19.00s step= 950 trunk_z= 115.3mm grav_b=(-0.06,-0.11,-0.99) r=0.93m +[headless_play] t= 19.10s step= 955 trunk_z= 118.7mm grav_b=(-0.05,-0.10,-0.99) r=0.94m +[headless_play] t= 19.20s step= 960 trunk_z= 113.7mm grav_b=(-0.03,-0.02,-1.00) r=0.95m +[headless_play] t= 19.30s step= 965 trunk_z= 120.4mm grav_b=(-0.06,+0.10,-0.99) r=0.96m +[headless_play] t= 19.40s step= 970 trunk_z= 119.0mm grav_b=(-0.02,+0.07,-1.00) r=0.97m +[headless_play] t= 19.50s step= 975 trunk_z= 112.4mm grav_b=(-0.02,-0.08,-1.00) r=0.99m +[headless_play] t= 19.60s step= 980 trunk_z= 117.4mm grav_b=(-0.03,-0.10,-0.99) r=1.00m +[headless_play] t= 19.70s step= 985 trunk_z= 114.4mm grav_b=(-0.04,-0.03,-1.00) r=1.00m +[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.09,-0.00,-1.00) r=1.00m +[headless_play] t= 19.90s step= 995 trunk_z= 115.1mm grav_b=(-0.10,-0.09,-0.99) r=1.00m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.32m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.05,+0.01,-1.00) r=0.33m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..0806d1712caf236ea56eb91c34ee438b14190ae1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.9mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.159,-0.159,+0.127) +[headless_play] t= 0.00s step= 0 trunk_z= 124.3mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 115.2mm grav_b=(+0.02,+0.04,-1.00) r=0.23m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 118.4mm grav_b=(+0.09,-0.02,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 119.9mm grav_b=(+0.10,+0.06,-0.99) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 122.2mm grav_b=(+0.05,+0.03,-1.00) r=0.25m +[headless_play] t= 0.60s step= 30 trunk_z= 122.5mm grav_b=(+0.04,-0.13,-0.99) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 129.9mm grav_b=(+0.09,-0.20,-0.98) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 130.6mm grav_b=(+0.09,-0.20,-0.98) r=0.30m +[headless_play] t= 0.90s step= 45 trunk_z= 126.1mm grav_b=(+0.05,-0.08,-1.00) r=0.33m +[headless_play] t= 1.00s step= 50 trunk_z= 132.6mm grav_b=(+0.11,-0.05,-0.99) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 122.8mm grav_b=(+0.07,-0.03,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 121.4mm grav_b=(+0.09,-0.02,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 117.7mm grav_b=(+0.07,+0.04,-1.00) r=0.41m +[headless_play] t= 1.40s step= 70 trunk_z= 129.4mm grav_b=(-0.00,+0.15,-0.99) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 134.2mm grav_b=(-0.04,+0.21,-0.98) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 134.3mm grav_b=(+0.01,+0.21,-0.98) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 131.7mm grav_b=(+0.04,+0.20,-0.98) r=0.45m +[headless_play] t= 1.80s step= 90 trunk_z= 131.4mm grav_b=(+0.06,+0.16,-0.98) r=0.48m +[headless_play] t= 1.90s step= 95 trunk_z= 124.5mm grav_b=(+0.01,+0.10,-0.99) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 127.7mm grav_b=(+0.06,+0.10,-0.99) r=0.54m +[headless_play] t= 2.10s step= 105 trunk_z= 116.3mm grav_b=(+0.05,+0.11,-0.99) r=0.56m +[headless_play] t= 2.20s step= 110 trunk_z= 126.6mm grav_b=(+0.03,+0.14,-0.99) r=0.57m +[headless_play] t= 2.30s step= 115 trunk_z= 127.8mm grav_b=(+0.03,+0.09,-1.00) r=0.58m +[headless_play] t= 2.40s step= 120 trunk_z= 120.7mm grav_b=(+0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 126.8mm grav_b=(+0.06,-0.10,-0.99) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 124.9mm grav_b=(+0.05,-0.06,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 121.2mm grav_b=(+0.05,+0.05,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 126.1mm grav_b=(+0.07,+0.07,-1.00) r=0.64m +[headless_play] t= 2.90s step= 145 trunk_z= 127.5mm grav_b=(+0.05,+0.10,-0.99) r=0.64m +[headless_play] t= 3.00s step= 150 trunk_z= 122.4mm grav_b=(+0.04,+0.04,-1.00) r=0.64m +[headless_play] t= 3.10s step= 155 trunk_z= 123.5mm grav_b=(+0.05,-0.10,-0.99) r=0.65m +[headless_play] t= 3.20s step= 160 trunk_z= 125.1mm grav_b=(+0.07,-0.07,-0.99) r=0.66m +[headless_play] t= 3.30s step= 165 trunk_z= 118.0mm grav_b=(+0.04,+0.03,-1.00) r=0.68m +[headless_play] t= 3.40s step= 170 trunk_z= 126.4mm grav_b=(+0.06,+0.08,-1.00) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 124.4mm grav_b=(+0.08,+0.06,-1.00) r=0.71m +[headless_play] t= 3.60s step= 180 trunk_z= 119.6mm grav_b=(+0.03,-0.13,-0.99) r=0.71m +[headless_play] t= 3.70s step= 185 trunk_z= 129.6mm grav_b=(+0.05,-0.18,-0.98) r=0.72m +[headless_play] t= 3.80s step= 190 trunk_z= 128.8mm grav_b=(+0.05,-0.15,-0.99) r=0.74m +[headless_play] t= 3.90s step= 195 trunk_z= 125.5mm grav_b=(+0.05,-0.07,-1.00) r=0.76m +[headless_play] t= 4.00s step= 200 trunk_z= 125.4mm grav_b=(+0.11,+0.01,-0.99) r=0.78m +[headless_play] t= 4.10s step= 205 trunk_z= 125.8mm grav_b=(+0.08,+0.02,-1.00) r=0.79m +[headless_play] t= 4.20s step= 210 trunk_z= 119.0mm grav_b=(+0.02,-0.06,-1.00) r=0.80m +[headless_play] t= 4.30s step= 215 trunk_z= 121.9mm grav_b=(+0.03,-0.02,-1.00) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 122.3mm grav_b=(+0.06,+0.10,-0.99) r=0.83m +[headless_play] t= 4.50s step= 225 trunk_z= 126.2mm grav_b=(+0.06,+0.08,-0.99) r=0.84m +[headless_play] t= 4.60s step= 230 trunk_z= 122.4mm grav_b=(+0.08,+0.01,-1.00) r=0.84m +[headless_play] t= 4.70s step= 235 trunk_z= 124.9mm grav_b=(+0.08,-0.09,-0.99) r=0.85m +[headless_play] t= 4.80s step= 240 trunk_z= 125.7mm grav_b=(+0.07,-0.07,-1.00) r=0.86m +[headless_play] t= 4.90s step= 245 trunk_z= 120.0mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 121.9mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 5.10s step= 255 trunk_z= 120.1mm grav_b=(+0.06,-0.08,-1.00) r=0.89m +[headless_play] t= 5.20s step= 260 trunk_z= 126.7mm grav_b=(+0.08,-0.04,-1.00) r=0.91m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.03,+0.08,-1.00) r=0.94m +[headless_play] t= 5.40s step= 270 trunk_z= 127.3mm grav_b=(+0.07,+0.15,-0.99) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 128.7mm grav_b=(+0.06,+0.14,-0.99) r=0.96m +[headless_play] t= 5.60s step= 280 trunk_z= 124.1mm grav_b=(+0.05,+0.07,-1.00) r=0.97m +[headless_play] t= 5.70s step= 285 trunk_z= 126.1mm grav_b=(+0.07,+0.01,-1.00) r=0.98m +[headless_play] t= 5.80s step= 290 trunk_z= 126.8mm grav_b=(+0.04,+0.02,-1.00) r=1.00m +[headless_play] t= 5.90s step= 295 trunk_z= 123.4mm grav_b=(+0.05,+0.07,-1.00) r=1.01m +[headless_play] t= 6.00s step= 300 trunk_z= 125.2mm grav_b=(+0.07,+0.05,-1.00) r=1.02m +[headless_play] t= 6.10s step= 305 trunk_z= 116.6mm grav_b=(+0.04,-0.04,-1.00) r=1.03m +[headless_play] t= 6.20s step= 310 trunk_z= 125.2mm grav_b=(+0.05,-0.04,-1.00) r=1.03m +[headless_play] t= 6.30s step= 315 trunk_z= 121.9mm grav_b=(+0.04,+0.03,-1.00) r=1.05m +[headless_play] t= 6.40s step= 320 trunk_z= 125.8mm grav_b=(+0.05,+0.07,-1.00) r=1.07m +[headless_play] t= 6.50s step= 325 trunk_z= 119.6mm grav_b=(+0.02,-0.03,-1.00) r=1.07m +[headless_play] t= 6.60s step= 330 trunk_z= 124.8mm grav_b=(+0.06,-0.09,-0.99) r=1.08m +[headless_play] t= 6.70s step= 335 trunk_z= 127.2mm grav_b=(+0.07,-0.01,-1.00) r=1.09m +[headless_play] t= 6.80s step= 340 trunk_z= 120.6mm grav_b=(+0.04,+0.07,-1.00) r=1.12m +[headless_play] t= 6.90s step= 345 trunk_z= 128.1mm grav_b=(+0.07,+0.13,-0.99) r=1.13m +[headless_play] t= 7.00s step= 350 trunk_z= 128.1mm grav_b=(+0.07,+0.11,-0.99) r=1.14m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(+0.05,+0.00,-1.00) r=1.15m +[headless_play] t= 7.20s step= 360 trunk_z= 130.6mm grav_b=(+0.11,-0.04,-0.99) r=1.16m +[headless_play] t= 7.30s step= 365 trunk_z= 134.1mm grav_b=(+0.05,-0.03,-1.00) r=1.19m +[headless_play] t= 7.40s step= 370 trunk_z= 117.5mm grav_b=(-0.04,+0.04,-1.00) r=1.23m +[headless_play] t= 7.50s step= 375 trunk_z= 125.5mm grav_b=(+0.05,+0.10,-0.99) r=1.25m +[headless_play] t= 7.60s step= 380 trunk_z= 125.1mm grav_b=(+0.03,+0.08,-1.00) r=1.25m +[headless_play] t= 7.70s step= 385 trunk_z= 123.8mm grav_b=(+0.05,+0.01,-1.00) r=1.26m +[headless_play] t= 7.80s step= 390 trunk_z= 121.0mm grav_b=(+0.08,+0.04,-1.00) r=1.26m +[headless_play] t= 7.90s step= 395 trunk_z= 120.6mm grav_b=(-0.00,+0.06,-1.00) r=1.26m +[headless_play] t= 8.00s step= 400 trunk_z= 118.4mm grav_b=(-0.06,+0.02,-1.00) r=1.25m +[headless_play] t= 8.10s step= 405 trunk_z= 118.6mm grav_b=(-0.01,+0.04,-1.00) r=1.25m +[headless_play] t= 8.20s step= 410 trunk_z= 117.4mm grav_b=(+0.09,-0.07,-0.99) r=1.25m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(+0.05,-0.01,-1.00) r=1.24m +[headless_play] t= 8.40s step= 420 trunk_z= 118.0mm grav_b=(+0.04,+0.03,-1.00) r=1.25m +[headless_play] t= 8.50s step= 425 trunk_z= 117.6mm grav_b=(+0.03,+0.02,-1.00) r=1.24m +[headless_play] t= 8.60s step= 430 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=1.24m +[headless_play] t= 8.70s step= 435 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=1.24m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(-0.07,+0.02,-1.00) r=1.23m +[headless_play] t= 8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.03,+0.08,-1.00) r=1.24m +[headless_play] t= 9.00s step= 450 trunk_z= 116.0mm grav_b=(+0.08,-0.02,-1.00) r=1.23m +[headless_play] t= 9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=1.23m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(+0.06,+0.02,-1.00) r=1.23m +[headless_play] t= 9.30s step= 465 trunk_z= 117.8mm grav_b=(+0.05,+0.02,-1.00) r=1.23m +[headless_play] t= 9.40s step= 470 trunk_z= 116.2mm grav_b=(-0.02,+0.01,-1.00) r=1.22m +[headless_play] t= 9.50s step= 475 trunk_z= 116.6mm grav_b=(+0.00,+0.00,-1.00) r=1.22m +[headless_play] t= 9.60s step= 480 trunk_z= 116.8mm grav_b=(+0.04,+0.01,-1.00) r=1.23m +[headless_play] t= 9.70s step= 485 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=1.23m +[headless_play] t= 9.80s step= 490 trunk_z= 117.3mm grav_b=(+0.05,+0.01,-1.00) r=1.23m +[headless_play] t= 9.90s step= 495 trunk_z= 117.0mm grav_b=(+0.03,+0.01,-1.00) r=1.23m +[headless_play] t= 10.00s step= 500 trunk_z= 117.0mm grav_b=(+0.02,+0.01,-1.00) r=1.23m +[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.20s step= 510 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.40s step= 520 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.60s step= 530 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 10.70s step= 535 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=1.22m +[headless_play] t= 10.80s step= 540 trunk_z= 119.4mm grav_b=(+0.06,-0.01,-1.00) r=1.23m +[headless_play] t= 10.90s step= 545 trunk_z= 120.0mm grav_b=(+0.09,+0.01,-1.00) r=1.23m +[headless_play] t= 11.00s step= 550 trunk_z= 120.4mm grav_b=(+0.10,+0.01,-1.00) r=1.23m +[headless_play] t= 11.10s step= 555 trunk_z= 120.5mm grav_b=(+0.10,+0.01,-0.99) r=1.23m +[headless_play] t= 11.20s step= 560 trunk_z= 120.6mm grav_b=(+0.10,+0.01,-0.99) r=1.23m +[headless_play] t= 11.30s step= 565 trunk_z= 120.8mm grav_b=(+0.02,+0.05,-1.00) r=1.24m +[headless_play] t= 11.40s step= 570 trunk_z= 118.6mm grav_b=(-0.03,+0.03,-1.00) r=1.23m +[headless_play] t= 11.50s step= 575 trunk_z= 118.1mm grav_b=(-0.01,+0.01,-1.00) r=1.23m +[headless_play] t= 11.60s step= 580 trunk_z= 117.6mm grav_b=(+0.02,+0.00,-1.00) r=1.23m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(+0.06,-0.00,-1.00) r=1.23m +[headless_play] t= 11.80s step= 590 trunk_z= 119.2mm grav_b=(+0.13,+0.01,-0.99) r=1.24m +[headless_play] t= 11.90s step= 595 trunk_z= 122.7mm grav_b=(+0.16,+0.00,-0.99) r=1.24m +[headless_play] t= 12.00s step= 600 trunk_z= 119.5mm grav_b=(+0.04,-0.01,-1.00) r=1.23m +[headless_play] t= 12.10s step= 605 trunk_z= 127.7mm grav_b=(+0.06,+0.06,-1.00) r=1.24m +[headless_play] t= 12.20s step= 610 trunk_z= 118.6mm grav_b=(+0.02,+0.14,-0.99) r=1.27m +[headless_play] t= 12.30s step= 615 trunk_z= 123.0mm grav_b=(+0.01,+0.17,-0.99) r=1.27m +[headless_play] t= 12.40s step= 620 trunk_z= 122.1mm grav_b=(-0.05,+0.14,-0.99) r=1.27m +[headless_play] t= 12.50s step= 625 trunk_z= 114.6mm grav_b=(-0.01,+0.03,-1.00) r=1.26m +[headless_play] t= 12.60s step= 630 trunk_z= 115.9mm grav_b=(+0.04,+0.04,-1.00) r=1.25m +[headless_play] t= 12.70s step= 635 trunk_z= 113.2mm grav_b=(+0.11,+0.06,-0.99) r=1.25m +[headless_play] t= 12.80s step= 640 trunk_z= 114.2mm grav_b=(+0.13,+0.01,-0.99) r=1.25m +[headless_play] t= 12.90s step= 645 trunk_z= 114.8mm grav_b=(+0.08,+0.00,-1.00) r=1.24m +[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(+0.04,+0.01,-1.00) r=1.25m +[headless_play] t= 13.10s step= 655 trunk_z= 115.5mm grav_b=(+0.02,+0.01,-1.00) r=1.25m +[headless_play] t= 13.20s step= 660 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=1.24m +[headless_play] t= 13.30s step= 665 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=1.24m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=1.24m +[headless_play] t= 13.50s step= 675 trunk_z= 117.1mm grav_b=(+0.02,-0.00,-1.00) r=1.24m +[headless_play] t= 13.60s step= 680 trunk_z= 117.0mm grav_b=(+0.02,-0.00,-1.00) r=1.24m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00) r=1.24m +[headless_play] t= 13.80s step= 690 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00) r=1.24m +[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00) r=1.24m +[headless_play] t= 14.00s step= 700 trunk_z= 120.0mm grav_b=(+0.12,-0.03,-0.99) r=1.24m +[headless_play] t= 14.10s step= 705 trunk_z= 122.0mm grav_b=(+0.15,-0.03,-0.99) r=1.24m +[headless_play] t= 14.20s step= 710 trunk_z= 120.6mm grav_b=(+0.08,-0.05,-1.00) r=1.23m +[headless_play] t= 14.30s step= 715 trunk_z= 126.4mm grav_b=(+0.06,+0.00,-1.00) r=1.24m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.01,+0.10,-1.00) r=1.25m +[headless_play] t= 14.50s step= 725 trunk_z= 122.6mm grav_b=(+0.01,+0.13,-0.99) r=1.26m +[headless_play] t= 14.60s step= 730 trunk_z= 120.2mm grav_b=(-0.00,+0.08,-1.00) r=1.25m +[headless_play] t= 14.70s step= 735 trunk_z= 117.9mm grav_b=(+0.06,-0.04,-1.00) r=1.23m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(+0.11,+0.05,-0.99) r=1.25m +[headless_play] t= 14.90s step= 745 trunk_z= 119.5mm grav_b=(+0.11,+0.11,-0.99) r=1.25m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(+0.09,+0.04,-0.99) r=1.25m +[headless_play] t= 15.10s step= 755 trunk_z= 115.4mm grav_b=(+0.07,-0.10,-0.99) r=1.24m +[headless_play] t= 15.20s step= 760 trunk_z= 117.0mm grav_b=(+0.12,-0.05,-0.99) r=1.24m +[headless_play] t= 15.30s step= 765 trunk_z= 115.2mm grav_b=(+0.10,+0.11,-0.99) r=1.26m +[headless_play] t= 15.40s step= 770 trunk_z= 123.3mm grav_b=(+0.09,+0.14,-0.99) r=1.27m +[headless_play] t= 15.50s step= 775 trunk_z= 119.1mm grav_b=(+0.07,+0.09,-0.99) r=1.27m +[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(+0.07,-0.07,-1.00) r=1.25m +[headless_play] t= 15.70s step= 785 trunk_z= 116.1mm grav_b=(+0.07,+0.00,-1.00) r=1.26m +[headless_play] t= 15.80s step= 790 trunk_z= 118.5mm grav_b=(+0.07,+0.18,-0.98) r=1.28m +[headless_play] t= 15.90s step= 795 trunk_z= 123.1mm grav_b=(+0.09,+0.19,-0.98) r=1.30m +[headless_play] t= 16.00s step= 800 trunk_z= 122.2mm grav_b=(+0.10,+0.16,-0.98) r=1.30m +[headless_play] t= 16.10s step= 805 trunk_z= 117.6mm grav_b=(+0.07,+0.07,-0.99) r=1.30m +[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(+0.10,-0.01,-1.00) r=1.30m +[headless_play] t= 16.30s step= 815 trunk_z= 116.2mm grav_b=(+0.09,+0.04,-0.99) r=1.31m +[headless_play] t= 16.40s step= 820 trunk_z= 117.3mm grav_b=(+0.17,+0.06,-0.98) r=1.33m +[headless_play] t= 16.50s step= 825 trunk_z= 113.3mm grav_b=(+0.10,-0.08,-0.99) r=1.34m +[headless_play] t= 16.60s step= 830 trunk_z= 124.3mm grav_b=(+0.10,-0.02,-0.99) r=1.35m +[headless_play] t= 16.70s step= 835 trunk_z= 120.0mm grav_b=(+0.09,+0.08,-0.99) r=1.38m +[headless_play] t= 16.80s step= 840 trunk_z= 129.4mm grav_b=(+0.08,+0.10,-0.99) r=1.39m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(+0.05,-0.01,-1.00) r=1.40m +[headless_play] t= 17.00s step= 850 trunk_z= 125.5mm grav_b=(+0.07,-0.01,-1.00) r=1.41m +[headless_play] t= 17.10s step= 855 trunk_z= 120.5mm grav_b=(+0.07,+0.07,-1.00) r=1.44m +[headless_play] t= 17.20s step= 860 trunk_z= 125.0mm grav_b=(+0.06,+0.15,-0.99) r=1.46m +[headless_play] t= 17.30s step= 865 trunk_z= 121.3mm grav_b=(+0.05,+0.14,-0.99) r=1.46m +[headless_play] t= 17.40s step= 870 trunk_z= 114.7mm grav_b=(+0.08,+0.00,-1.00) r=1.45m +[headless_play] t= 17.50s step= 875 trunk_z= 117.6mm grav_b=(+0.09,-0.04,-0.99) r=1.46m +[headless_play] t= 17.60s step= 880 trunk_z= 113.5mm grav_b=(+0.09,+0.05,-0.99) r=1.47m +[headless_play] t= 17.70s step= 885 trunk_z= 121.2mm grav_b=(+0.08,+0.16,-0.98) r=1.49m +[headless_play] t= 17.80s step= 890 trunk_z= 121.2mm grav_b=(+0.09,+0.15,-0.99) r=1.50m +[headless_play] t= 17.90s step= 895 trunk_z= 115.7mm grav_b=(+0.09,+0.04,-1.00) r=1.50m +[headless_play] t= 18.00s step= 900 trunk_z= 117.9mm grav_b=(+0.10,-0.05,-0.99) r=1.51m +[headless_play] t= 18.10s step= 905 trunk_z= 115.4mm grav_b=(+0.12,+0.04,-0.99) r=1.52m +[headless_play] t= 18.20s step= 910 trunk_z= 117.9mm grav_b=(+0.11,+0.10,-0.99) r=1.54m +[headless_play] t= 18.30s step= 915 trunk_z= 117.8mm grav_b=(+0.07,-0.01,-1.00) r=1.55m +[headless_play] t= 18.40s step= 920 trunk_z= 119.3mm grav_b=(+0.09,-0.10,-0.99) r=1.56m +[headless_play] t= 18.50s step= 925 trunk_z= 119.2mm grav_b=(+0.11,-0.03,-0.99) r=1.57m +[headless_play] t= 18.60s step= 930 trunk_z= 119.0mm grav_b=(+0.10,+0.14,-0.99) r=1.59m +[headless_play] t= 18.70s step= 935 trunk_z= 126.2mm grav_b=(+0.09,+0.18,-0.98) r=1.61m +[headless_play] t= 18.80s step= 940 trunk_z= 125.9mm grav_b=(+0.05,+0.32,-0.95) r=1.62m +[headless_play] t= 18.90s step= 945 trunk_z= 129.2mm grav_b=(+0.16,+0.26,-0.95) r=1.64m +[headless_play] t= 19.00s step= 950 trunk_z= 121.7mm grav_b=(+0.04,+0.11,-0.99) r=1.69m +[headless_play] t= 19.10s step= 955 trunk_z= 135.1mm grav_b=(+0.13,+0.16,-0.98) r=1.74m +[headless_play] t= 19.20s step= 960 trunk_z= 114.4mm grav_b=(+0.10,+0.14,-0.98) r=1.80m +[headless_play] t= 19.30s step= 965 trunk_z= 121.5mm grav_b=(+0.15,+0.17,-0.97) r=1.83m +[headless_play] t= 19.40s step= 970 trunk_z= 135.0mm grav_b=(+0.00,+0.13,-0.99) r=1.87m +[headless_play] t= 19.50s step= 975 trunk_z= 134.1mm grav_b=(-0.02,+0.17,-0.98) r=1.91m +[headless_play] t= 19.60s step= 980 trunk_z= 134.3mm grav_b=(+0.18,+0.21,-0.96) r=1.95m +[headless_play] t= 19.70s step= 985 trunk_z= 106.1mm grav_b=(+0.02,+0.14,-0.99) r=2.01m +[headless_play] t= 19.80s step= 990 trunk_z= 123.5mm grav_b=(+0.06,+0.12,-0.99) r=2.04m +[headless_play] t= 19.90s step= 995 trunk_z= 127.6mm grav_b=(+0.07,+0.10,-0.99) r=2.06m +[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=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(-0.00,+0.03,-1.00) r=0.49m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..a60e8442ae78c5237a929256af8d6dae8df2cbdf --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.029,+0.218,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.00,-0.01,-1.00) r=0.22m +[headless_play] t= 0.20s step= 10 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 0.30s step= 15 trunk_z= 115.7mm grav_b=(+0.06,-0.01,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(-0.05,-0.01,-1.00) r=0.21m +[headless_play] t= 1.20s step= 60 trunk_z= 117.1mm grav_b=(-0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 1.40s step= 70 trunk_z= 117.1mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 1.50s step= 75 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.21m +[headless_play] t= 1.60s step= 80 trunk_z= 117.3mm grav_b=(-0.09,-0.01,-1.00) r=0.20m +[headless_play] t= 1.70s step= 85 trunk_z= 115.1mm grav_b=(-0.08,-0.05,-1.00) r=0.20m +[headless_play] t= 1.80s step= 90 trunk_z= 115.2mm grav_b=(-0.04,+0.13,-0.99) r=0.18m +[headless_play] t= 1.90s step= 95 trunk_z= 92.4mm grav_b=(-0.03,+0.15,-0.99) r=0.18m +[headless_play] t= 2.00s step= 100 trunk_z= 104.3mm grav_b=(+0.01,+0.10,-1.00) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 109.8mm grav_b=(+0.03,-0.01,-1.00) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 112.9mm grav_b=(+0.05,-0.05,-1.00) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 113.7mm grav_b=(+0.06,-0.02,-1.00) r=0.15m +[headless_play] t= 2.40s step= 120 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.15m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(+0.02,-0.01,-1.00) r=0.15m +[headless_play] t= 2.60s step= 130 trunk_z= 116.2mm grav_b=(-0.07,+0.00,-1.00) r=0.15m +[headless_play] t= 2.70s step= 135 trunk_z= 116.5mm grav_b=(-0.09,-0.00,-1.00) r=0.14m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(-0.07,-0.01,-1.00) r=0.14m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.14m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00) r=0.15m +[headless_play] t= 3.10s step= 155 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=0.15m +[headless_play] t= 3.20s step= 160 trunk_z= 116.8mm grav_b=(+0.05,-0.01,-1.00) r=0.15m +[headless_play] t= 3.30s step= 165 trunk_z= 118.5mm grav_b=(+0.05,+0.00,-1.00) r=0.15m +[headless_play] t= 3.40s step= 170 trunk_z= 119.9mm grav_b=(+0.06,-0.00,-1.00) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 120.6mm grav_b=(+0.05,-0.05,-1.00) r=0.15m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(-0.03,+0.03,-1.00) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 116.4mm grav_b=(-0.05,+0.03,-1.00) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 116.0mm grav_b=(-0.07,+0.02,-1.00) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(-0.06,+0.01,-1.00) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 116.4mm grav_b=(-0.05,-0.00,-1.00) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.06,-0.00,-1.00) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.16m +[headless_play] t= 4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.16m +[headless_play] t= 4.80s step= 240 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 116.5mm grav_b=(-0.18,+0.01,-0.98) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 116.2mm grav_b=(-0.01,+0.16,-0.99) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 112.6mm grav_b=(-0.13,+0.07,-0.99) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 113.4mm grav_b=(+0.02,-0.05,-1.00) r=0.21m +[headless_play] t= 5.30s step= 265 trunk_z= 108.9mm grav_b=(+0.01,-0.09,-1.00) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 109.6mm grav_b=(+0.03,-0.01,-1.00) r=0.23m +[headless_play] t= 5.50s step= 275 trunk_z= 115.9mm grav_b=(+0.03,+0.02,-1.00) r=0.24m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.02,+0.02,-1.00) r=0.24m +[headless_play] t= 5.70s step= 285 trunk_z= 117.3mm grav_b=(+0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(+0.02,-0.04,-1.00) r=0.23m +[headless_play] t= 5.90s step= 295 trunk_z= 117.8mm grav_b=(+0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 6.00s step= 300 trunk_z= 117.2mm grav_b=(-0.01,-0.02,-1.00) r=0.24m +[headless_play] t= 6.10s step= 305 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 6.20s step= 310 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00) r=0.23m +[headless_play] t= 6.30s step= 315 trunk_z= 117.9mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(+0.00,-0.02,-1.00) r=0.23m +[headless_play] t= 6.50s step= 325 trunk_z= 118.2mm grav_b=(-0.09,+0.00,-1.00) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 118.6mm grav_b=(-0.08,+0.06,-1.00) r=0.24m +[headless_play] t= 6.70s step= 335 trunk_z= 119.9mm grav_b=(-0.02,-0.01,-1.00) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 121.3mm grav_b=(-0.02,-0.13,-0.99) r=0.23m +[headless_play] t= 6.90s step= 345 trunk_z= 121.5mm grav_b=(-0.01,-0.12,-0.99) r=0.23m +[headless_play] t= 7.00s step= 350 trunk_z= 116.7mm grav_b=(+0.02,-0.03,-1.00) r=0.24m +[headless_play] t= 7.10s step= 355 trunk_z= 125.3mm grav_b=(+0.03,+0.07,-1.00) r=0.24m +[headless_play] t= 7.20s step= 360 trunk_z= 124.3mm grav_b=(+0.03,+0.06,-1.00) r=0.23m +[headless_play] t= 7.30s step= 365 trunk_z= 120.1mm grav_b=(-0.00,-0.05,-1.00) r=0.21m +[headless_play] t= 7.40s step= 370 trunk_z= 125.7mm grav_b=(-0.01,-0.09,-1.00) r=0.20m +[headless_play] t= 7.50s step= 375 trunk_z= 119.6mm grav_b=(+0.02,-0.02,-1.00) r=0.21m +[headless_play] t= 7.60s step= 380 trunk_z= 126.8mm grav_b=(+0.03,+0.08,-1.00) r=0.22m +[headless_play] t= 7.70s step= 385 trunk_z= 126.7mm grav_b=(+0.03,+0.06,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 119.3mm grav_b=(-0.01,-0.04,-1.00) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 126.8mm grav_b=(-0.01,-0.09,-1.00) r=0.18m +[headless_play] t= 8.00s step= 400 trunk_z= 124.0mm grav_b=(-0.02,-0.07,-1.00) r=0.19m +[headless_play] t= 8.10s step= 405 trunk_z= 122.9mm grav_b=(+0.01,+0.05,-1.00) r=0.21m +[headless_play] t= 8.20s step= 410 trunk_z= 125.0mm grav_b=(+0.02,+0.05,-1.00) r=0.21m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(-0.01,-0.03,-1.00) r=0.20m +[headless_play] t= 8.40s step= 420 trunk_z= 125.6mm grav_b=(-0.04,-0.08,-1.00) r=0.19m +[headless_play] t= 8.50s step= 425 trunk_z= 123.0mm grav_b=(-0.03,-0.05,-1.00) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 122.3mm grav_b=(-0.01,+0.07,-1.00) r=0.22m +[headless_play] t= 8.70s step= 435 trunk_z= 124.9mm grav_b=(+0.01,+0.07,-1.00) r=0.23m +[headless_play] t= 8.80s step= 440 trunk_z= 118.9mm grav_b=(+0.03,-0.02,-1.00) r=0.22m +[headless_play] t= 8.90s step= 445 trunk_z= 125.6mm grav_b=(+0.02,-0.09,-1.00) r=0.21m +[headless_play] t= 9.00s step= 450 trunk_z= 121.2mm grav_b=(+0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 9.10s step= 455 trunk_z= 125.4mm grav_b=(+0.01,+0.09,-1.00) r=0.26m +[headless_play] t= 9.20s step= 460 trunk_z= 125.9mm grav_b=(+0.01,+0.08,-1.00) r=0.27m +[headless_play] t= 9.30s step= 465 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00) r=0.26m +[headless_play] t= 9.40s step= 470 trunk_z= 125.9mm grav_b=(-0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 9.60s step= 480 trunk_z= 116.5mm grav_b=(+0.05,-0.02,-1.00) r=0.29m +[headless_play] t= 9.70s step= 485 trunk_z= 119.1mm grav_b=(+0.01,+0.05,-1.00) r=0.30m +[headless_play] t= 9.80s step= 490 trunk_z= 116.9mm grav_b=(+0.02,-0.05,-1.00) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 120.9mm grav_b=(+0.00,-0.13,-0.99) r=0.31m +[headless_play] t= 10.00s step= 500 trunk_z= 119.0mm grav_b=(+0.03,-0.07,-1.00) r=0.33m +[headless_play] t= 10.10s step= 505 trunk_z= 116.3mm grav_b=(-0.01,+0.05,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 121.7mm grav_b=(-0.00,+0.07,-1.00) r=0.36m +[headless_play] t= 10.30s step= 515 trunk_z= 116.7mm grav_b=(+0.01,-0.05,-1.00) r=0.36m +[headless_play] t= 10.40s step= 520 trunk_z= 124.0mm grav_b=(+0.00,-0.21,-0.98) r=0.36m +[headless_play] t= 10.50s step= 525 trunk_z= 125.3mm grav_b=(+0.01,-0.23,-0.97) r=0.36m +[headless_play] t= 10.60s step= 530 trunk_z= 125.6mm grav_b=(+0.04,-0.25,-0.97) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 125.3mm grav_b=(+0.04,-0.20,-0.98) r=0.37m +[headless_play] t= 10.80s step= 540 trunk_z= 122.4mm grav_b=(+0.03,-0.10,-0.99) r=0.38m +[headless_play] t= 10.90s step= 545 trunk_z= 123.7mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 121.3mm grav_b=(-0.03,-0.00,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 121.1mm grav_b=(+0.04,-0.13,-0.99) r=0.41m +[headless_play] t= 11.20s step= 560 trunk_z= 124.7mm grav_b=(+0.04,-0.12,-0.99) r=0.42m +[headless_play] t= 11.30s step= 565 trunk_z= 119.5mm grav_b=(+0.00,-0.03,-1.00) r=0.44m +[headless_play] t= 11.40s step= 570 trunk_z= 122.8mm grav_b=(-0.04,+0.07,-1.00) r=0.46m +[headless_play] t= 11.50s step= 575 trunk_z= 121.3mm grav_b=(-0.00,+0.03,-1.00) r=0.46m +[headless_play] t= 11.60s step= 580 trunk_z= 116.9mm grav_b=(+0.03,-0.11,-0.99) r=0.46m +[headless_play] t= 11.70s step= 585 trunk_z= 120.5mm grav_b=(+0.03,-0.12,-0.99) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 115.5mm grav_b=(-0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 11.90s step= 595 trunk_z= 126.7mm grav_b=(-0.16,+0.09,-0.98) r=0.48m +[headless_play] t= 12.00s step= 600 trunk_z= 122.3mm grav_b=(-0.03,-0.08,-1.00) r=0.47m +[headless_play] t= 12.10s step= 605 trunk_z= 106.6mm grav_b=(-0.06,-0.04,-1.00) r=0.44m +[headless_play] t= 12.20s step= 610 trunk_z= 109.1mm grav_b=(+0.02,-0.05,-1.00) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 112.6mm grav_b=(+0.05,+0.07,-1.00) r=0.47m +[headless_play] t= 12.40s step= 620 trunk_z= 117.2mm grav_b=(+0.05,+0.06,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 113.7mm grav_b=(+0.03,-0.09,-1.00) r=0.46m +[headless_play] t= 12.60s step= 630 trunk_z= 122.8mm grav_b=(+0.03,-0.18,-0.98) r=0.45m +[headless_play] t= 12.70s step= 635 trunk_z= 123.6mm grav_b=(+0.02,-0.13,-0.99) r=0.45m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(+0.02,-0.03,-1.00) r=0.47m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(-0.04,+0.04,-1.00) r=0.48m +[headless_play] t= 13.00s step= 650 trunk_z= 119.6mm grav_b=(+0.00,+0.00,-1.00) r=0.47m +[headless_play] t= 13.10s step= 655 trunk_z= 117.3mm grav_b=(+0.04,-0.12,-0.99) r=0.46m +[headless_play] t= 13.20s step= 660 trunk_z= 124.3mm grav_b=(+0.02,-0.15,-0.99) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 122.8mm grav_b=(-0.02,-0.15,-0.99) r=0.44m +[headless_play] t= 13.40s step= 670 trunk_z= 118.8mm grav_b=(+0.01,-0.12,-0.99) r=0.46m +[headless_play] t= 13.50s step= 675 trunk_z= 116.5mm grav_b=(-0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 123.0mm grav_b=(-0.03,+0.09,-1.00) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 119.8mm grav_b=(-0.01,+0.04,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 114.5mm grav_b=(+0.01,-0.08,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 115.4mm grav_b=(+0.07,-0.13,-0.99) r=0.47m +[headless_play] t= 14.00s step= 700 trunk_z= 112.0mm grav_b=(+0.11,-0.10,-0.99) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 111.9mm grav_b=(+0.03,-0.00,-1.00) r=0.49m +[headless_play] t= 14.20s step= 710 trunk_z= 119.2mm grav_b=(-0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 105.3mm grav_b=(-0.01,-0.10,-0.99) r=0.47m +[headless_play] t= 14.40s step= 720 trunk_z= 108.4mm grav_b=(+0.02,-0.10,-0.99) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 105.9mm grav_b=(+0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 14.60s step= 730 trunk_z= 109.2mm grav_b=(+0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 113.2mm grav_b=(+0.06,+0.01,-1.00) r=0.50m +[headless_play] t= 14.80s step= 740 trunk_z= 108.2mm grav_b=(+0.08,-0.07,-0.99) r=0.50m +[headless_play] t= 14.90s step= 745 trunk_z= 112.2mm grav_b=(+0.08,-0.10,-0.99) r=0.51m +[headless_play] t= 15.00s step= 750 trunk_z= 110.8mm grav_b=(+0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 115.7mm grav_b=(+0.01,+0.06,-1.00) r=0.53m +[headless_play] t= 15.20s step= 760 trunk_z= 119.7mm grav_b=(-0.03,+0.05,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 113.5mm grav_b=(+0.02,-0.04,-1.00) r=0.53m +[headless_play] t= 15.40s step= 770 trunk_z= 114.4mm grav_b=(+0.05,-0.10,-0.99) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 110.0mm grav_b=(+0.08,-0.03,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 113.2mm grav_b=(+0.06,+0.06,-1.00) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 116.4mm grav_b=(+0.04,+0.08,-1.00) r=0.58m +[headless_play] t= 15.80s step= 790 trunk_z= 112.6mm grav_b=(+0.09,+0.02,-1.00) r=0.58m +[headless_play] t= 15.90s step= 795 trunk_z= 112.8mm grav_b=(+0.06,-0.09,-0.99) r=0.57m +[headless_play] t= 16.00s step= 800 trunk_z= 111.1mm grav_b=(+0.08,-0.08,-0.99) r=0.58m +[headless_play] t= 16.10s step= 805 trunk_z= 110.5mm grav_b=(+0.07,-0.04,-1.00) r=0.59m +[headless_play] t= 16.20s step= 810 trunk_z= 117.2mm grav_b=(+0.01,+0.02,-1.00) r=0.60m +[headless_play] t= 16.30s step= 815 trunk_z= 118.4mm grav_b=(+0.01,-0.01,-1.00) r=0.60m +[headless_play] t= 16.40s step= 820 trunk_z= 109.3mm grav_b=(+0.05,-0.05,-1.00) r=0.59m +[headless_play] t= 16.50s step= 825 trunk_z= 105.6mm grav_b=(+0.11,-0.01,-0.99) r=0.61m +[headless_play] t= 16.60s step= 830 trunk_z= 111.2mm grav_b=(+0.07,+0.09,-0.99) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 114.9mm grav_b=(+0.05,+0.08,-1.00) r=0.64m +[headless_play] t= 16.80s step= 840 trunk_z= 111.1mm grav_b=(+0.07,-0.03,-1.00) r=0.63m +[headless_play] t= 16.90s step= 845 trunk_z= 114.9mm grav_b=(+0.04,-0.10,-0.99) r=0.63m +[headless_play] t= 17.00s step= 850 trunk_z= 114.4mm grav_b=(-0.01,-0.08,-1.00) r=0.63m +[headless_play] t= 17.10s step= 855 trunk_z= 114.4mm grav_b=(-0.02,+0.11,-0.99) r=0.66m +[headless_play] t= 17.20s step= 860 trunk_z= 129.6mm grav_b=(+0.03,+0.25,-0.97) r=0.68m +[headless_play] t= 17.30s step= 865 trunk_z= 133.0mm grav_b=(+0.07,+0.27,-0.96) r=0.70m +[headless_play] t= 17.40s step= 870 trunk_z= 138.3mm grav_b=(+0.04,+0.16,-0.99) r=0.73m +[headless_play] t= 17.50s step= 875 trunk_z= 134.0mm grav_b=(+0.11,+0.24,-0.96) r=0.76m +[headless_play] t= 17.60s step= 880 trunk_z= 109.5mm grav_b=(+0.05,+0.21,-0.98) r=0.82m +[headless_play] t= 17.70s step= 885 trunk_z= 126.1mm grav_b=(+0.15,+0.03,-0.99) r=0.85m +[headless_play] t= 17.80s step= 890 trunk_z= 110.5mm grav_b=(-0.04,-0.09,-0.99) r=0.88m +[headless_play] t= 17.90s step= 895 trunk_z= 111.7mm grav_b=(-0.03,-0.00,-1.00) r=0.90m +[headless_play] t= 18.00s step= 900 trunk_z= 118.2mm grav_b=(-0.09,+0.05,-0.99) r=0.92m +[headless_play] t= 18.10s step= 905 trunk_z= 123.0mm grav_b=(-0.06,+0.11,-0.99) r=0.94m +[headless_play] t= 18.20s step= 910 trunk_z= 124.0mm grav_b=(-0.02,+0.07,-1.00) r=0.95m +[headless_play] t= 18.30s step= 915 trunk_z= 122.4mm grav_b=(-0.01,-0.08,-1.00) r=0.94m +[headless_play] t= 18.40s step= 920 trunk_z= 132.3mm grav_b=(-0.00,-0.20,-0.98) r=0.93m +[headless_play] t= 18.50s step= 925 trunk_z= 131.6mm grav_b=(+0.02,-0.19,-0.98) r=0.94m +[headless_play] t= 18.60s step= 930 trunk_z= 137.0mm grav_b=(-0.00,-0.11,-0.99) r=0.95m +[headless_play] t= 18.70s step= 935 trunk_z= 134.1mm grav_b=(+0.02,-0.07,-1.00) r=0.98m +[headless_play] t= 18.80s step= 940 trunk_z= 134.7mm grav_b=(+0.02,-0.03,-1.00) r=0.99m +[headless_play] t= 18.90s step= 945 trunk_z= 111.4mm grav_b=(-0.00,-0.01,-1.00) r=1.00m +[headless_play] t= 19.00s step= 950 trunk_z= 119.8mm grav_b=(-0.04,-0.02,-1.00) r=1.00m +[headless_play] t= 19.10s step= 955 trunk_z= 119.4mm grav_b=(-0.10,+0.09,-0.99) r=1.02m +[headless_play] t= 19.20s step= 960 trunk_z= 124.4mm grav_b=(-0.05,+0.07,-1.00) r=1.01m +[headless_play] t= 19.30s step= 965 trunk_z= 118.6mm grav_b=(-0.01,-0.05,-1.00) r=0.99m +[headless_play] t= 19.40s step= 970 trunk_z= 125.7mm grav_b=(+0.02,-0.10,-1.00) r=0.99m +[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(+0.03,-0.06,-1.00) r=1.01m +[headless_play] t= 19.60s step= 980 trunk_z= 122.5mm grav_b=(+0.02,+0.07,-1.00) r=1.03m +[headless_play] t= 19.70s step= 985 trunk_z= 124.8mm grav_b=(-0.01,+0.02,-1.00) r=1.04m +[headless_play] t= 19.80s step= 990 trunk_z= 115.5mm grav_b=(-0.05,-0.03,-1.00) r=1.03m +[headless_play] t= 19.90s step= 995 trunk_z= 125.1mm grav_b=(-0.03,-0.06,-1.00) r=1.03m +[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=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 114.9mm grav_b=(+0.00,-0.01,-1.00) r=0.43m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..1d618b0a19e9fc1032aa25aeda222516a2275afb --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.315,+0.213,+0.120) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.03,+0.03,-1.00) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(+0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 118.1mm grav_b=(+0.05,-0.02,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 123.1mm grav_b=(-0.05,+0.13,-0.99) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 124.6mm grav_b=(-0.05,+0.09,-0.99) r=0.37m +[headless_play] t= 0.70s step= 35 trunk_z= 119.7mm grav_b=(-0.02,-0.06,-1.00) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 122.1mm grav_b=(-0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 0.90s step= 45 trunk_z= 119.4mm grav_b=(-0.02,+0.09,-1.00) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 127.4mm grav_b=(-0.16,+0.14,-0.98) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 119.9mm grav_b=(-0.08,+0.06,-1.00) r=0.37m +[headless_play] t= 1.20s step= 60 trunk_z= 115.5mm grav_b=(-0.04,+0.01,-1.00) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 111.5mm grav_b=(-0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 121.4mm grav_b=(+0.04,+0.10,-0.99) r=0.39m +[headless_play] t= 1.50s step= 75 trunk_z= 123.7mm grav_b=(-0.01,+0.03,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 121.8mm grav_b=(-0.05,-0.10,-0.99) r=0.37m +[headless_play] t= 1.70s step= 85 trunk_z= 121.8mm grav_b=(-0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 1.80s step= 90 trunk_z= 120.5mm grav_b=(-0.05,+0.07,-1.00) r=0.39m +[headless_play] t= 1.90s step= 95 trunk_z= 125.6mm grav_b=(-0.04,+0.08,-1.00) r=0.39m +[headless_play] t= 2.00s step= 100 trunk_z= 121.2mm grav_b=(-0.03,+0.02,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 123.7mm grav_b=(-0.03,-0.06,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 2.30s step= 115 trunk_z= 125.5mm grav_b=(-0.04,+0.12,-0.99) r=0.39m +[headless_play] t= 2.40s step= 120 trunk_z= 126.9mm grav_b=(-0.04,+0.12,-0.99) r=0.39m +[headless_play] t= 2.50s step= 125 trunk_z= 121.1mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 123.4mm grav_b=(-0.09,-0.03,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 119.9mm grav_b=(-0.07,+0.03,-1.00) r=0.38m +[headless_play] t= 2.80s step= 140 trunk_z= 126.1mm grav_b=(-0.04,+0.14,-0.99) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 127.8mm grav_b=(-0.00,+0.15,-0.99) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 123.4mm grav_b=(+0.03,+0.08,-1.00) r=0.39m +[headless_play] t= 3.10s step= 155 trunk_z= 122.6mm grav_b=(+0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.05,+0.00,-1.00) r=0.38m +[headless_play] t= 3.30s step= 165 trunk_z= 123.1mm grav_b=(-0.08,+0.10,-0.99) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 127.0mm grav_b=(-0.05,+0.10,-0.99) r=0.39m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.00,-0.04,-1.00) r=0.37m +[headless_play] t= 3.60s step= 180 trunk_z= 124.4mm grav_b=(+0.03,-0.11,-0.99) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 127.1mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.80s step= 190 trunk_z= 124.0mm grav_b=(-0.05,+0.11,-0.99) r=0.38m +[headless_play] t= 3.90s step= 195 trunk_z= 129.2mm grav_b=(-0.09,+0.17,-0.98) r=0.39m +[headless_play] t= 4.00s step= 200 trunk_z= 124.0mm grav_b=(+0.00,+0.05,-1.00) r=0.37m +[headless_play] t= 4.10s step= 205 trunk_z= 125.4mm grav_b=(+0.02,-0.19,-0.98) r=0.35m +[headless_play] t= 4.20s step= 210 trunk_z= 134.9mm grav_b=(-0.03,-0.09,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 123.3mm grav_b=(-0.17,+0.04,-0.98) r=0.35m +[headless_play] t= 4.40s step= 220 trunk_z= 131.7mm grav_b=(+0.04,+0.09,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 126.0mm grav_b=(-0.10,+0.20,-0.97) r=0.35m +[headless_play] t= 4.60s step= 230 trunk_z= 119.9mm grav_b=(+0.04,+0.06,-1.00) r=0.34m +[headless_play] t= 4.70s step= 235 trunk_z= 119.2mm grav_b=(+0.00,+0.10,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 121.6mm grav_b=(-0.09,+0.23,-0.97) r=0.36m +[headless_play] t= 4.90s step= 245 trunk_z= 131.0mm grav_b=(-0.08,+0.19,-0.98) r=0.36m +[headless_play] t= 5.00s step= 250 trunk_z= 129.5mm grav_b=(-0.01,+0.08,-1.00) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 121.8mm grav_b=(-0.05,+0.07,-1.00) r=0.35m +[headless_play] t= 5.20s step= 260 trunk_z= 117.7mm grav_b=(-0.04,+0.10,-0.99) r=0.37m +[headless_play] t= 5.30s step= 265 trunk_z= 126.6mm grav_b=(+0.02,+0.05,-1.00) r=0.38m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(-0.03,-0.11,-0.99) r=0.36m +[headless_play] t= 5.50s step= 275 trunk_z= 128.7mm grav_b=(-0.03,-0.13,-0.99) r=0.35m +[headless_play] t= 5.60s step= 280 trunk_z= 134.5mm grav_b=(-0.04,-0.05,-1.00) r=0.35m +[headless_play] t= 5.70s step= 285 trunk_z= 128.5mm grav_b=(-0.09,+0.05,-0.99) r=0.37m +[headless_play] t= 5.80s step= 290 trunk_z= 131.9mm grav_b=(-0.05,+0.14,-0.99) r=0.38m +[headless_play] t= 5.90s step= 295 trunk_z= 129.6mm grav_b=(-0.02,+0.20,-0.98) r=0.37m +[headless_play] t= 6.00s step= 300 trunk_z= 124.4mm grav_b=(-0.01,+0.07,-1.00) r=0.36m +[headless_play] t= 6.10s step= 305 trunk_z= 124.9mm grav_b=(-0.02,-0.03,-1.00) r=0.34m +[headless_play] t= 6.20s step= 310 trunk_z= 125.7mm grav_b=(-0.05,+0.02,-1.00) r=0.35m +[headless_play] t= 6.30s step= 315 trunk_z= 121.6mm grav_b=(-0.06,+0.07,-1.00) r=0.36m +[headless_play] t= 6.40s step= 320 trunk_z= 126.0mm grav_b=(-0.10,+0.09,-0.99) r=0.36m +[headless_play] t= 6.50s step= 325 trunk_z= 119.4mm grav_b=(-0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 6.60s step= 330 trunk_z= 126.4mm grav_b=(-0.04,-0.07,-1.00) r=0.34m +[headless_play] t= 6.70s step= 335 trunk_z= 125.2mm grav_b=(-0.03,-0.01,-1.00) r=0.35m +[headless_play] t= 6.80s step= 340 trunk_z= 123.9mm grav_b=(-0.06,+0.11,-0.99) r=0.38m +[headless_play] t= 6.90s step= 345 trunk_z= 129.8mm grav_b=(-0.11,+0.16,-0.98) r=0.38m +[headless_play] t= 7.00s step= 350 trunk_z= 126.2mm grav_b=(-0.07,+0.12,-0.99) r=0.37m +[headless_play] t= 7.10s step= 355 trunk_z= 120.8mm grav_b=(-0.04,+0.04,-1.00) r=0.36m +[headless_play] t= 7.20s step= 360 trunk_z= 117.0mm grav_b=(-0.03,+0.06,-1.00) r=0.37m +[headless_play] t= 7.30s step= 365 trunk_z= 125.4mm grav_b=(+0.01,+0.09,-1.00) r=0.39m +[headless_play] t= 7.40s step= 370 trunk_z= 127.2mm grav_b=(-0.04,+0.03,-1.00) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 123.8mm grav_b=(-0.09,-0.08,-0.99) r=0.38m +[headless_play] t= 7.60s step= 380 trunk_z= 128.8mm grav_b=(-0.15,-0.09,-0.98) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 127.5mm grav_b=(-0.12,-0.01,-0.99) r=0.37m +[headless_play] t= 7.80s step= 390 trunk_z= 120.1mm grav_b=(-0.01,+0.08,-1.00) r=0.37m +[headless_play] t= 7.90s step= 395 trunk_z= 125.9mm grav_b=(+0.02,+0.10,-0.99) r=0.37m +[headless_play] t= 8.00s step= 400 trunk_z= 120.6mm grav_b=(-0.01,+0.02,-1.00) r=0.37m +[headless_play] t= 8.10s step= 405 trunk_z= 126.3mm grav_b=(-0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 8.20s step= 410 trunk_z= 122.3mm grav_b=(-0.03,+0.02,-1.00) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 123.7mm grav_b=(-0.03,+0.06,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 119.5mm grav_b=(-0.03,-0.03,-1.00) r=0.41m +[headless_play] t= 8.50s step= 425 trunk_z= 122.9mm grav_b=(-0.04,-0.10,-0.99) r=0.42m +[headless_play] t= 8.60s step= 430 trunk_z= 123.8mm grav_b=(-0.01,-0.05,-1.00) r=0.43m +[headless_play] t= 8.70s step= 435 trunk_z= 121.3mm grav_b=(-0.01,+0.07,-1.00) r=0.44m +[headless_play] t= 8.80s step= 440 trunk_z= 127.9mm grav_b=(-0.03,+0.12,-0.99) r=0.46m +[headless_play] t= 8.90s step= 445 trunk_z= 123.1mm grav_b=(-0.03,+0.10,-0.99) r=0.47m +[headless_play] t= 9.00s step= 450 trunk_z= 123.0mm grav_b=(-0.00,-0.07,-1.00) r=0.48m +[headless_play] t= 9.10s step= 455 trunk_z= 129.1mm grav_b=(+0.07,-0.10,-0.99) r=0.50m +[headless_play] t= 9.20s step= 460 trunk_z= 133.5mm grav_b=(-0.05,+0.08,-1.00) r=0.52m +[headless_play] t= 9.30s step= 465 trunk_z= 126.9mm grav_b=(-0.06,+0.24,-0.97) r=0.57m +[headless_play] t= 9.40s step= 470 trunk_z= 137.0mm grav_b=(-0.03,+0.28,-0.96) r=0.60m +[headless_play] t= 9.50s step= 475 trunk_z= 133.2mm grav_b=(+0.08,+0.23,-0.97) r=0.63m +[headless_play] t= 9.60s step= 480 trunk_z= 126.3mm grav_b=(-0.20,+0.04,-0.98) r=0.68m +[headless_play] t= 9.70s step= 485 trunk_z= 122.7mm grav_b=(-0.03,+0.18,-0.98) r=0.72m +[headless_play] t= 9.80s step= 490 trunk_z= 125.2mm grav_b=(+0.07,+0.17,-0.98) r=0.74m +[headless_play] t= 9.90s step= 495 trunk_z= 127.4mm grav_b=(-0.02,+0.05,-1.00) r=0.77m +[headless_play] t= 10.00s step= 500 trunk_z= 121.7mm grav_b=(-0.11,-0.07,-0.99) r=0.81m +[headless_play] t= 10.10s step= 505 trunk_z= 128.3mm grav_b=(-0.11,-0.07,-0.99) r=0.83m +[headless_play] t= 10.20s step= 510 trunk_z= 121.5mm grav_b=(-0.01,+0.07,-1.00) r=0.86m +[headless_play] t= 10.30s step= 515 trunk_z= 126.0mm grav_b=(+0.02,+0.10,-0.99) r=0.88m +[headless_play] t= 10.40s step= 520 trunk_z= 123.7mm grav_b=(-0.01,+0.05,-1.00) r=0.89m +[headless_play] t= 10.50s step= 525 trunk_z= 123.9mm grav_b=(-0.05,-0.07,-1.00) r=0.91m +[headless_play] t= 10.60s step= 530 trunk_z= 124.4mm grav_b=(-0.04,-0.06,-1.00) r=0.92m +[headless_play] t= 10.70s step= 535 trunk_z= 119.8mm grav_b=(-0.01,+0.03,-1.00) r=0.93m +[headless_play] t= 10.80s step= 540 trunk_z= 126.8mm grav_b=(-0.03,+0.08,-1.00) r=0.94m +[headless_play] t= 10.90s step= 545 trunk_z= 122.5mm grav_b=(-0.03,+0.00,-1.00) r=0.96m +[headless_play] t= 11.00s step= 550 trunk_z= 127.0mm grav_b=(+0.01,-0.08,-1.00) r=0.99m +[headless_play] t= 11.10s step= 555 trunk_z= 128.8mm grav_b=(+0.02,-0.02,-1.00) r=1.00m +[headless_play] t= 11.20s step= 560 trunk_z= 122.8mm grav_b=(-0.03,+0.09,-1.00) r=1.03m +[headless_play] t= 11.30s step= 565 trunk_z= 129.4mm grav_b=(-0.07,+0.15,-0.99) r=1.04m +[headless_play] t= 11.40s step= 570 trunk_z= 125.9mm grav_b=(-0.03,+0.12,-0.99) r=1.05m +[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(-0.03,-0.01,-1.00) r=1.07m +[headless_play] t= 11.60s step= 580 trunk_z= 120.5mm grav_b=(+0.01,-0.03,-1.00) r=1.08m +[headless_play] t= 11.70s step= 585 trunk_z= 120.8mm grav_b=(+0.01,-0.00,-1.00) r=1.09m +[headless_play] t= 11.80s step= 590 trunk_z= 123.9mm grav_b=(-0.01,+0.09,-1.00) r=1.10m +[headless_play] t= 11.90s step= 595 trunk_z= 123.3mm grav_b=(-0.01,+0.08,-1.00) r=1.11m +[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(-0.01,-0.05,-1.00) r=1.12m +[headless_play] t= 12.10s step= 605 trunk_z= 121.6mm grav_b=(-0.01,-0.04,-1.00) r=1.14m +[headless_play] t= 12.20s step= 610 trunk_z= 118.7mm grav_b=(+0.01,+0.06,-1.00) r=1.15m +[headless_play] t= 12.30s step= 615 trunk_z= 125.9mm grav_b=(-0.00,+0.11,-0.99) r=1.16m +[headless_play] t= 12.40s step= 620 trunk_z= 122.5mm grav_b=(-0.00,+0.09,-1.00) r=1.18m +[headless_play] t= 12.50s step= 625 trunk_z= 120.5mm grav_b=(-0.02,-0.06,-1.00) r=1.20m +[headless_play] t= 12.60s step= 630 trunk_z= 121.9mm grav_b=(-0.01,-0.04,-1.00) r=1.21m +[headless_play] t= 12.70s step= 635 trunk_z= 119.4mm grav_b=(-0.01,+0.08,-1.00) r=1.21m +[headless_play] t= 12.80s step= 640 trunk_z= 126.0mm grav_b=(-0.03,+0.11,-0.99) r=1.22m +[headless_play] t= 12.90s step= 645 trunk_z= 123.0mm grav_b=(+0.01,+0.09,-1.00) r=1.23m +[headless_play] t= 13.00s step= 650 trunk_z= 119.1mm grav_b=(-0.01,-0.05,-1.00) r=1.25m +[headless_play] t= 13.10s step= 655 trunk_z= 117.8mm grav_b=(-0.03,+0.07,-1.00) r=1.25m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(-0.02,+0.13,-0.99) r=1.26m +[headless_play] t= 13.30s step= 665 trunk_z= 124.3mm grav_b=(+0.02,+0.12,-0.99) r=1.27m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(+0.00,-0.01,-1.00) r=1.29m +[headless_play] t= 13.50s step= 675 trunk_z= 123.8mm grav_b=(-0.01,-0.09,-1.00) r=1.31m +[headless_play] t= 13.60s step= 680 trunk_z= 123.7mm grav_b=(+0.01,-0.06,-1.00) r=1.32m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(+0.02,+0.02,-1.00) r=1.32m +[headless_play] t= 13.80s step= 690 trunk_z= 125.0mm grav_b=(+0.00,+0.09,-1.00) r=1.33m +[headless_play] t= 13.90s step= 695 trunk_z= 121.3mm grav_b=(-0.01,+0.06,-1.00) r=1.34m +[headless_play] t= 14.00s step= 700 trunk_z= 119.8mm grav_b=(-0.09,-0.05,-0.99) r=1.35m +[headless_play] t= 14.10s step= 705 trunk_z= 123.0mm grav_b=(-0.09,+0.01,-1.00) r=1.35m +[headless_play] t= 14.20s step= 710 trunk_z= 117.7mm grav_b=(-0.04,+0.10,-0.99) r=1.33m +[headless_play] t= 14.30s step= 715 trunk_z= 123.6mm grav_b=(+0.02,+0.13,-0.99) r=1.33m +[headless_play] t= 14.40s step= 720 trunk_z= 121.0mm grav_b=(+0.02,+0.11,-0.99) r=1.34m +[headless_play] t= 14.50s step= 725 trunk_z= 120.3mm grav_b=(+0.02,-0.05,-1.00) r=1.35m +[headless_play] t= 14.60s step= 730 trunk_z= 119.6mm grav_b=(+0.00,+0.05,-1.00) r=1.36m +[headless_play] t= 14.70s step= 735 trunk_z= 125.3mm grav_b=(-0.00,+0.16,-0.99) r=1.38m +[headless_play] t= 14.80s step= 740 trunk_z= 126.2mm grav_b=(+0.00,+0.18,-0.98) r=1.39m +[headless_play] t= 14.90s step= 745 trunk_z= 121.5mm grav_b=(+0.01,+0.09,-1.00) r=1.40m +[headless_play] t= 15.00s step= 750 trunk_z= 122.3mm grav_b=(-0.03,-0.04,-1.00) r=1.41m +[headless_play] t= 15.10s step= 755 trunk_z= 121.6mm grav_b=(-0.00,-0.03,-1.00) r=1.42m +[headless_play] t= 15.20s step= 760 trunk_z= 118.4mm grav_b=(+0.02,+0.06,-1.00) r=1.43m +[headless_play] t= 15.30s step= 765 trunk_z= 125.1mm grav_b=(+0.00,+0.10,-0.99) r=1.44m +[headless_play] t= 15.40s step= 770 trunk_z= 120.5mm grav_b=(+0.01,+0.05,-1.00) r=1.45m +[headless_play] t= 15.50s step= 775 trunk_z= 121.9mm grav_b=(-0.02,-0.08,-1.00) r=1.46m +[headless_play] t= 15.60s step= 780 trunk_z= 126.7mm grav_b=(+0.04,-0.11,-0.99) r=1.49m +[headless_play] t= 15.70s step= 785 trunk_z= 131.4mm grav_b=(+0.02,-0.05,-1.00) r=1.50m +[headless_play] t= 15.80s step= 790 trunk_z= 126.6mm grav_b=(-0.03,+0.08,-1.00) r=1.54m +[headless_play] t= 15.90s step= 795 trunk_z= 131.5mm grav_b=(-0.09,+0.16,-0.98) r=1.55m +[headless_play] t= 16.00s step= 800 trunk_z= 125.6mm grav_b=(-0.02,+0.12,-0.99) r=1.57m +[headless_play] t= 16.10s step= 805 trunk_z= 119.9mm grav_b=(+0.00,-0.01,-1.00) r=1.58m +[headless_play] t= 16.20s step= 810 trunk_z= 120.0mm grav_b=(+0.02,-0.02,-1.00) r=1.59m +[headless_play] t= 16.30s step= 815 trunk_z= 119.8mm grav_b=(-0.00,+0.04,-1.00) r=1.61m +[headless_play] t= 16.40s step= 820 trunk_z= 124.6mm grav_b=(-0.03,+0.08,-1.00) r=1.62m +[headless_play] t= 16.50s step= 825 trunk_z= 118.5mm grav_b=(-0.01,-0.00,-1.00) r=1.64m +[headless_play] t= 16.60s step= 830 trunk_z= 121.2mm grav_b=(+0.00,-0.07,-1.00) r=1.65m +[headless_play] t= 16.70s step= 835 trunk_z= 120.5mm grav_b=(-0.00,-0.01,-1.00) r=1.66m +[headless_play] t= 16.80s step= 840 trunk_z= 124.3mm grav_b=(+0.02,+0.11,-0.99) r=1.67m +[headless_play] t= 16.90s step= 845 trunk_z= 127.5mm grav_b=(-0.03,+0.13,-0.99) r=1.69m +[headless_play] t= 17.00s step= 850 trunk_z= 122.2mm grav_b=(+0.00,+0.09,-1.00) r=1.70m +[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(+0.02,-0.09,-1.00) r=1.70m +[headless_play] t= 17.20s step= 860 trunk_z= 124.2mm grav_b=(+0.00,-0.02,-1.00) r=1.71m +[headless_play] t= 17.30s step= 865 trunk_z= 122.8mm grav_b=(-0.02,+0.15,-0.99) r=1.72m +[headless_play] t= 17.40s step= 870 trunk_z= 129.6mm grav_b=(-0.03,+0.22,-0.98) r=1.74m +[headless_play] t= 17.50s step= 875 trunk_z= 129.9mm grav_b=(-0.01,+0.23,-0.97) r=1.75m +[headless_play] t= 17.60s step= 880 trunk_z= 130.3mm grav_b=(-0.01,+0.24,-0.97) r=1.76m +[headless_play] t= 17.70s step= 885 trunk_z= 130.6mm grav_b=(-0.01,+0.21,-0.98) r=1.76m +[headless_play] t= 17.80s step= 890 trunk_z= 129.8mm grav_b=(-0.04,+0.14,-0.99) r=1.78m +[headless_play] t= 17.90s step= 895 trunk_z= 127.7mm grav_b=(+0.08,+0.14,-0.99) r=1.81m +[headless_play] t= 18.00s step= 900 trunk_z= 117.5mm grav_b=(-0.01,+0.11,-0.99) r=1.84m +[headless_play] t= 18.10s step= 905 trunk_z= 121.4mm grav_b=(-0.04,+0.11,-0.99) r=1.87m +[headless_play] t= 18.20s step= 910 trunk_z= 122.2mm grav_b=(-0.04,+0.03,-1.00) r=1.90m +[headless_play] t= 18.30s step= 915 trunk_z= 122.7mm grav_b=(-0.04,-0.04,-1.00) r=1.92m +[headless_play] t= 18.40s step= 920 trunk_z= 118.9mm grav_b=(-0.00,+0.02,-1.00) r=1.92m +[headless_play] t= 18.50s step= 925 trunk_z= 123.3mm grav_b=(-0.00,+0.10,-0.99) r=1.93m +[headless_play] t= 18.60s step= 930 trunk_z= 124.4mm grav_b=(-0.02,+0.11,-0.99) r=1.93m +[headless_play] t= 18.70s step= 935 trunk_z= 119.3mm grav_b=(-0.02,+0.04,-1.00) r=1.95m +[headless_play] t= 18.80s step= 940 trunk_z= 120.3mm grav_b=(-0.04,-0.04,-1.00) r=1.96m +[headless_play] t= 18.90s step= 945 trunk_z= 117.5mm grav_b=(+0.01,+0.01,-1.00) r=1.97m +[headless_play] t= 19.00s step= 950 trunk_z= 122.1mm grav_b=(+0.00,+0.11,-0.99) r=1.97m +[headless_play] t= 19.10s step= 955 trunk_z= 123.1mm grav_b=(+0.01,+0.10,-0.99) r=1.99m +[headless_play] t= 19.20s step= 960 trunk_z= 114.5mm grav_b=(+0.01,-0.08,-1.00) r=2.02m +[headless_play] t= 19.30s step= 965 trunk_z= 126.6mm grav_b=(+0.02,-0.09,-1.00) r=2.04m +[headless_play] t= 19.40s step= 970 trunk_z= 125.1mm grav_b=(-0.00,+0.00,-1.00) r=2.05m +[headless_play] t= 19.50s step= 975 trunk_z= 126.4mm grav_b=(-0.04,+0.12,-0.99) r=2.07m +[headless_play] t= 19.60s step= 980 trunk_z= 126.1mm grav_b=(-0.04,+0.13,-0.99) r=2.08m +[headless_play] t= 19.70s step= 985 trunk_z= 119.0mm grav_b=(-0.00,+0.04,-1.00) r=2.10m +[headless_play] t= 19.80s step= 990 trunk_z= 118.7mm grav_b=(+0.02,-0.03,-1.00) r=2.11m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(+0.02,+0.05,-1.00) r=2.12m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.8mm grav_b=(-0.01,-0.00,-1.00) r=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(-0.00,+0.06,-1.00) r=0.40m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..c520a67c2897c3517340cbab1787dbd789ec2ab1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.202,-0.349,+0.124) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(-0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 116.0mm grav_b=(+0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(+0.01,-0.04,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 116.8mm grav_b=(+0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(+0.06,-0.05,-1.00) r=0.39m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(+0.09,-0.05,-0.99) r=0.39m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(-0.02,+0.03,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 117.5mm grav_b=(-0.01,+0.07,-1.00) r=0.38m +[headless_play] t= 1.90s step= 95 trunk_z= 115.9mm grav_b=(-0.05,+0.01,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(-0.03,-0.03,-1.00) r=0.37m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.20s step= 110 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(+0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 117.9mm grav_b=(-0.02,-0.04,-1.00) r=0.36m +[headless_play] t= 2.60s step= 130 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 2.80s step= 140 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 2.90s step= 145 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 3.00s step= 150 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00) r=0.36m +[headless_play] t= 3.20s step= 160 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.50s step= 175 trunk_z= 116.6mm grav_b=(-0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.70s step= 185 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 4.10s step= 205 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 4.30s step= 215 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 4.40s step= 220 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 4.50s step= 225 trunk_z= 116.3mm grav_b=(+0.00,-0.02,-1.00) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 116.3mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(+0.03,-0.02,-1.00) r=0.35m +[headless_play] t= 4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.05,-0.02,-1.00) r=0.35m +[headless_play] t= 4.90s step= 245 trunk_z= 116.8mm grav_b=(+0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 5.00s step= 250 trunk_z= 116.4mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 5.10s step= 255 trunk_z= 116.3mm grav_b=(-0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.02,-0.02,-1.00) r=0.36m +[headless_play] t= 5.30s step= 265 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 5.40s step= 270 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00) r=0.35m +[headless_play] t= 5.70s step= 285 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(-0.00,-0.10,-0.99) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.01,-0.16,-0.99) r=0.32m +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(+0.02,-0.12,-0.99) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 114.0mm grav_b=(+0.04,-0.00,-1.00) r=0.30m +[headless_play] t= 6.20s step= 310 trunk_z= 119.4mm grav_b=(-0.06,-0.04,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 118.6mm grav_b=(-0.04,-0.21,-0.98) r=0.30m +[headless_play] t= 6.40s step= 320 trunk_z= 124.6mm grav_b=(-0.04,-0.24,-0.97) r=0.30m +[headless_play] t= 6.50s step= 325 trunk_z= 133.7mm grav_b=(-0.15,-0.28,-0.95) r=0.30m +[headless_play] t= 6.60s step= 330 trunk_z= 133.8mm grav_b=(-0.05,-0.17,-0.98) r=0.32m +[headless_play] t= 6.70s step= 335 trunk_z= 106.2mm grav_b=(+0.09,+0.08,-0.99) r=0.36m +[headless_play] t= 6.80s step= 340 trunk_z= 105.3mm grav_b=(+0.08,+0.06,-1.00) r=0.38m +[headless_play] t= 6.90s step= 345 trunk_z= 106.1mm grav_b=(+0.00,-0.10,-0.99) r=0.37m +[headless_play] t= 7.00s step= 350 trunk_z= 121.1mm grav_b=(+0.01,-0.17,-0.98) r=0.37m +[headless_play] t= 7.10s step= 355 trunk_z= 123.8mm grav_b=(-0.04,-0.18,-0.98) r=0.37m +[headless_play] t= 7.20s step= 360 trunk_z= 123.4mm grav_b=(-0.02,-0.12,-0.99) r=0.37m +[headless_play] t= 7.30s step= 365 trunk_z= 119.4mm grav_b=(+0.01,-0.01,-1.00) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 125.9mm grav_b=(+0.01,+0.04,-1.00) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 121.0mm grav_b=(-0.02,+0.01,-1.00) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 123.9mm grav_b=(-0.06,-0.08,-0.99) r=0.35m +[headless_play] t= 7.70s step= 385 trunk_z= 124.9mm grav_b=(+0.01,-0.09,-1.00) r=0.32m +[headless_play] t= 7.80s step= 390 trunk_z= 122.0mm grav_b=(+0.02,-0.07,-1.00) r=0.31m +[headless_play] t= 7.90s step= 395 trunk_z= 121.0mm grav_b=(+0.03,+0.06,-1.00) r=0.30m +[headless_play] t= 8.00s step= 400 trunk_z= 123.7mm grav_b=(+0.01,+0.03,-1.00) r=0.29m +[headless_play] t= 8.10s step= 405 trunk_z= 118.1mm grav_b=(-0.02,-0.06,-1.00) r=0.27m +[headless_play] t= 8.20s step= 410 trunk_z= 125.3mm grav_b=(-0.02,-0.09,-1.00) r=0.26m +[headless_play] t= 8.30s step= 415 trunk_z= 123.0mm grav_b=(-0.07,-0.07,-1.00) r=0.26m +[headless_play] t= 8.40s step= 420 trunk_z= 121.0mm grav_b=(-0.04,+0.05,-1.00) r=0.27m +[headless_play] t= 8.50s step= 425 trunk_z= 123.2mm grav_b=(-0.04,+0.04,-1.00) r=0.26m +[headless_play] t= 8.60s step= 430 trunk_z= 117.9mm grav_b=(-0.00,-0.06,-1.00) r=0.25m +[headless_play] t= 8.70s step= 435 trunk_z= 123.8mm grav_b=(+0.01,-0.09,-1.00) r=0.23m +[headless_play] t= 8.80s step= 440 trunk_z= 120.8mm grav_b=(+0.03,-0.06,-1.00) r=0.23m +[headless_play] t= 8.90s step= 445 trunk_z= 123.5mm grav_b=(-0.00,+0.05,-1.00) r=0.23m +[headless_play] t= 9.00s step= 450 trunk_z= 121.8mm grav_b=(-0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 9.10s step= 455 trunk_z= 123.5mm grav_b=(-0.04,-0.11,-0.99) r=0.19m +[headless_play] t= 9.20s step= 460 trunk_z= 126.4mm grav_b=(-0.03,-0.12,-0.99) r=0.18m +[headless_play] t= 9.30s step= 465 trunk_z= 121.7mm grav_b=(-0.02,-0.07,-1.00) r=0.18m +[headless_play] t= 9.40s step= 470 trunk_z= 123.9mm grav_b=(+0.00,+0.04,-1.00) r=0.18m +[headless_play] t= 9.50s step= 475 trunk_z= 122.3mm grav_b=(-0.00,+0.02,-1.00) r=0.17m +[headless_play] t= 9.60s step= 480 trunk_z= 121.8mm grav_b=(-0.03,-0.08,-1.00) r=0.15m +[headless_play] t= 9.70s step= 485 trunk_z= 129.1mm grav_b=(+0.06,-0.13,-0.99) r=0.12m +[headless_play] t= 9.80s step= 490 trunk_z= 130.7mm grav_b=(+0.04,-0.11,-0.99) r=0.10m +[headless_play] t= 9.90s step= 495 trunk_z= 123.3mm grav_b=(+0.01,-0.08,-1.00) r=0.09m +[headless_play] t= 10.00s step= 500 trunk_z= 126.9mm grav_b=(-0.00,-0.06,-1.00) r=0.08m +[headless_play] t= 10.10s step= 505 trunk_z= 118.8mm grav_b=(-0.01,-0.08,-1.00) r=0.06m +[headless_play] t= 10.20s step= 510 trunk_z= 123.5mm grav_b=(-0.01,-0.08,-1.00) r=0.06m +[headless_play] t= 10.30s step= 515 trunk_z= 118.7mm grav_b=(-0.03,+0.03,-1.00) r=0.08m +[headless_play] t= 10.40s step= 520 trunk_z= 121.6mm grav_b=(-0.00,-0.01,-1.00) r=0.08m +[headless_play] t= 10.50s step= 525 trunk_z= 123.1mm grav_b=(+0.03,-0.15,-0.99) r=0.08m +[headless_play] t= 10.60s step= 530 trunk_z= 128.8mm grav_b=(+0.01,-0.16,-0.99) r=0.09m +[headless_play] t= 10.70s step= 535 trunk_z= 129.0mm grav_b=(-0.01,-0.10,-0.99) r=0.10m +[headless_play] t= 10.80s step= 540 trunk_z= 121.8mm grav_b=(-0.02,-0.01,-1.00) r=0.12m +[headless_play] t= 10.90s step= 545 trunk_z= 123.9mm grav_b=(-0.03,+0.01,-1.00) r=0.12m +[headless_play] t= 11.00s step= 550 trunk_z= 118.0mm grav_b=(-0.04,-0.06,-1.00) r=0.12m +[headless_play] t= 11.10s step= 555 trunk_z= 125.9mm grav_b=(-0.05,-0.11,-0.99) r=0.12m +[headless_play] t= 11.20s step= 560 trunk_z= 128.4mm grav_b=(-0.09,-0.14,-0.99) r=0.12m +[headless_play] t= 11.30s step= 565 trunk_z= 127.1mm grav_b=(-0.02,-0.13,-0.99) r=0.13m +[headless_play] t= 11.40s step= 570 trunk_z= 122.4mm grav_b=(+0.00,-0.07,-1.00) r=0.15m +[headless_play] t= 11.50s step= 575 trunk_z= 125.1mm grav_b=(+0.03,+0.04,-1.00) r=0.16m +[headless_play] t= 11.60s step= 580 trunk_z= 125.3mm grav_b=(-0.00,-0.01,-1.00) r=0.17m +[headless_play] t= 11.70s step= 585 trunk_z= 120.9mm grav_b=(-0.04,-0.09,-1.00) r=0.18m +[headless_play] t= 11.80s step= 590 trunk_z= 122.0mm grav_b=(-0.02,-0.08,-1.00) r=0.20m +[headless_play] t= 11.90s step= 595 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 12.00s step= 600 trunk_z= 118.7mm grav_b=(-0.02,+0.08,-1.00) r=0.22m +[headless_play] t= 12.10s step= 605 trunk_z= 118.7mm grav_b=(+0.01,+0.05,-1.00) r=0.22m +[headless_play] t= 12.20s step= 610 trunk_z= 110.0mm grav_b=(+0.04,-0.07,-1.00) r=0.23m +[headless_play] t= 12.30s step= 615 trunk_z= 112.2mm grav_b=(+0.08,-0.10,-0.99) r=0.24m +[headless_play] t= 12.40s step= 620 trunk_z= 110.7mm grav_b=(+0.08,-0.05,-1.00) r=0.24m +[headless_play] t= 12.50s step= 625 trunk_z= 114.8mm grav_b=(+0.00,+0.07,-1.00) r=0.25m +[headless_play] t= 12.60s step= 630 trunk_z= 119.9mm grav_b=(+0.05,+0.08,-1.00) r=0.27m +[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(+0.10,+0.06,-0.99) r=0.29m +[headless_play] t= 12.80s step= 640 trunk_z= 117.8mm grav_b=(+0.01,-0.11,-0.99) r=0.30m +[headless_play] t= 12.90s step= 645 trunk_z= 119.7mm grav_b=(+0.05,-0.10,-0.99) r=0.32m +[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(+0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 13.10s step= 655 trunk_z= 118.8mm grav_b=(-0.01,+0.07,-1.00) r=0.33m +[headless_play] t= 13.20s step= 660 trunk_z= 119.1mm grav_b=(+0.05,+0.07,-1.00) r=0.35m +[headless_play] t= 13.30s step= 665 trunk_z= 113.6mm grav_b=(+0.05,-0.03,-1.00) r=0.37m +[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(+0.04,-0.10,-0.99) r=0.38m +[headless_play] t= 13.50s step= 675 trunk_z= 114.5mm grav_b=(+0.07,-0.07,-0.99) r=0.39m +[headless_play] t= 13.60s step= 680 trunk_z= 111.9mm grav_b=(+0.01,+0.02,-1.00) r=0.39m +[headless_play] t= 13.70s step= 685 trunk_z= 117.9mm grav_b=(+0.01,+0.04,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 112.4mm grav_b=(+0.03,-0.04,-1.00) r=0.41m +[headless_play] t= 13.90s step= 695 trunk_z= 110.7mm grav_b=(+0.08,-0.09,-0.99) r=0.42m +[headless_play] t= 14.00s step= 700 trunk_z= 109.9mm grav_b=(+0.12,-0.06,-0.99) r=0.43m +[headless_play] t= 14.10s step= 705 trunk_z= 110.7mm grav_b=(+0.04,+0.09,-1.00) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 121.7mm grav_b=(+0.01,+0.16,-0.99) r=0.46m +[headless_play] t= 14.30s step= 715 trunk_z= 120.8mm grav_b=(+0.03,+0.15,-0.99) r=0.46m +[headless_play] t= 14.40s step= 720 trunk_z= 114.0mm grav_b=(+0.03,+0.03,-1.00) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 118.9mm grav_b=(+0.00,-0.07,-1.00) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 120.4mm grav_b=(+0.00,-0.10,-1.00) r=0.46m +[headless_play] t= 14.70s step= 735 trunk_z= 116.5mm grav_b=(-0.00,-0.03,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 122.4mm grav_b=(+0.06,-0.03,-1.00) r=0.48m +[headless_play] t= 14.90s step= 745 trunk_z= 118.8mm grav_b=(+0.02,-0.11,-0.99) r=0.49m +[headless_play] t= 15.00s step= 750 trunk_z= 129.8mm grav_b=(+0.04,-0.16,-0.99) r=0.50m +[headless_play] t= 15.10s step= 755 trunk_z= 131.4mm grav_b=(+0.00,-0.14,-0.99) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 118.1mm grav_b=(-0.01,-0.07,-1.00) r=0.55m +[headless_play] t= 15.30s step= 765 trunk_z= 123.1mm grav_b=(+0.03,-0.06,-1.00) r=0.56m +[headless_play] t= 15.40s step= 770 trunk_z= 119.6mm grav_b=(-0.06,-0.07,-1.00) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 124.1mm grav_b=(-0.12,-0.16,-0.98) r=0.56m +[headless_play] t= 15.60s step= 780 trunk_z= 129.6mm grav_b=(-0.04,-0.12,-0.99) r=0.57m +[headless_play] t= 15.70s step= 785 trunk_z= 122.4mm grav_b=(-0.07,-0.05,-1.00) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 123.7mm grav_b=(+0.02,-0.05,-1.00) r=0.56m +[headless_play] t= 15.90s step= 795 trunk_z= 122.3mm grav_b=(+0.03,-0.15,-0.99) r=0.54m +[headless_play] t= 16.00s step= 800 trunk_z= 127.4mm grav_b=(+0.02,-0.14,-0.99) r=0.54m +[headless_play] t= 16.10s step= 805 trunk_z= 123.5mm grav_b=(+0.00,-0.08,-1.00) r=0.56m +[headless_play] t= 16.20s step= 810 trunk_z= 122.3mm grav_b=(+0.04,-0.02,-1.00) r=0.58m +[headless_play] t= 16.30s step= 815 trunk_z= 125.0mm grav_b=(-0.02,-0.03,-1.00) r=0.58m +[headless_play] t= 16.40s step= 820 trunk_z= 116.4mm grav_b=(-0.06,-0.10,-0.99) r=0.57m +[headless_play] t= 16.50s step= 825 trunk_z= 129.0mm grav_b=(-0.11,-0.19,-0.98) r=0.55m +[headless_play] t= 16.60s step= 830 trunk_z= 133.6mm grav_b=(-0.09,-0.19,-0.98) r=0.55m +[headless_play] t= 16.70s step= 835 trunk_z= 130.1mm grav_b=(-0.04,-0.07,-1.00) r=0.54m +[headless_play] t= 16.80s step= 840 trunk_z= 116.3mm grav_b=(-0.02,-0.05,-1.00) r=0.51m +[headless_play] t= 16.90s step= 845 trunk_z= 113.0mm grav_b=(-0.01,-0.03,-1.00) r=0.48m +[headless_play] t= 17.00s step= 850 trunk_z= 116.4mm grav_b=(-0.02,-0.04,-1.00) r=0.46m +[headless_play] t= 17.10s step= 855 trunk_z= 118.5mm grav_b=(-0.06,+0.01,-1.00) r=0.45m +[headless_play] t= 17.20s step= 860 trunk_z= 118.3mm grav_b=(-0.05,-0.06,-1.00) r=0.44m +[headless_play] t= 17.30s step= 865 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(-0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 17.50s step= 875 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 17.60s step= 880 trunk_z= 118.4mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 17.70s step= 885 trunk_z= 117.9mm grav_b=(-0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 17.80s step= 890 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 17.90s step= 895 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.46m +[headless_play] t= 18.00s step= 900 trunk_z= 120.4mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 18.10s step= 905 trunk_z= 120.2mm grav_b=(-0.00,-0.02,-1.00) r=0.46m +[headless_play] t= 18.20s step= 910 trunk_z= 118.6mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 18.30s step= 915 trunk_z= 118.3mm grav_b=(-0.05,-0.01,-1.00) r=0.45m +[headless_play] t= 18.40s step= 920 trunk_z= 118.2mm grav_b=(-0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 18.50s step= 925 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=0.46m +[headless_play] t= 18.60s step= 930 trunk_z= 118.6mm grav_b=(-0.04,-0.03,-1.00) r=0.45m +[headless_play] t= 18.70s step= 935 trunk_z= 118.5mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 18.80s step= 940 trunk_z= 118.3mm grav_b=(-0.04,-0.02,-1.00) r=0.45m +[headless_play] t= 18.90s step= 945 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.45m +[headless_play] t= 19.00s step= 950 trunk_z= 117.8mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 19.10s step= 955 trunk_z= 117.3mm grav_b=(-0.02,-0.03,-1.00) r=0.46m +[headless_play] t= 19.20s step= 960 trunk_z= 115.1mm grav_b=(+0.03,+0.00,-1.00) r=0.45m +[headless_play] t= 19.30s step= 965 trunk_z= 111.2mm grav_b=(+0.06,+0.05,-1.00) r=0.45m +[headless_play] t= 19.40s step= 970 trunk_z= 110.0mm grav_b=(+0.09,-0.03,-1.00) r=0.45m +[headless_play] t= 19.50s step= 975 trunk_z= 113.0mm grav_b=(+0.13,-0.07,-0.99) r=0.45m +[headless_play] t= 19.60s step= 980 trunk_z= 116.2mm grav_b=(+0.05,-0.06,-1.00) r=0.44m +[headless_play] t= 19.70s step= 985 trunk_z= 119.8mm grav_b=(+0.04,-0.05,-1.00) r=0.44m +[headless_play] t= 19.80s step= 990 trunk_z= 122.7mm grav_b=(+0.01,-0.05,-1.00) r=0.44m +[headless_play] t= 19.90s step= 995 trunk_z= 116.5mm grav_b=(-0.01,+0.04,-1.00) r=0.46m +[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=0.61m +[headless_play] t= 20.10s step=1005 trunk_z= 114.9mm grav_b=(+0.00,+0.03,-1.00) r=0.62m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..b89a3763b41d9002f2f95dabd1eb975862bf29eb --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.194,-0.111,+0.122) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(+0.00,-0.01,-1.00) r=0.22m +[headless_play] t= 0.20s step= 10 trunk_z= 115.7mm grav_b=(+0.04,-0.00,-1.00) r=0.22m +[headless_play] t= 0.30s step= 15 trunk_z= 115.9mm grav_b=(+0.07,+0.00,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 115.8mm grav_b=(+0.04,+0.00,-1.00) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.60s step= 30 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.10s step= 55 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.20s step= 60 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.30s step= 65 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.50s step= 75 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) r=0.22m +[headless_play] t= 1.70s step= 85 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.22m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00) r=0.22m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.22m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.20s step= 110 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(-0.09,+0.01,-1.00) r=0.22m +[headless_play] t= 2.60s step= 130 trunk_z= 117.5mm grav_b=(-0.10,+0.06,-0.99) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.04,-0.10,-0.99) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 112.3mm grav_b=(+0.04,-0.06,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.03,+0.04,-1.00) r=0.24m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(+0.02,+0.00,-1.00) r=0.24m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(-0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 115.8mm grav_b=(+0.00,+0.00,-1.00) r=0.25m +[headless_play] t= 3.40s step= 170 trunk_z= 116.2mm grav_b=(-0.00,+0.02,-1.00) r=0.25m +[headless_play] t= 3.50s step= 175 trunk_z= 116.0mm grav_b=(+0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 3.70s step= 185 trunk_z= 116.1mm grav_b=(+0.04,+0.01,-1.00) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 116.1mm grav_b=(+0.03,+0.01,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 116.4mm grav_b=(+0.03,+0.00,-1.00) r=0.24m +[headless_play] t= 4.20s step= 210 trunk_z= 118.0mm grav_b=(+0.08,-0.00,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 120.4mm grav_b=(+0.04,+0.01,-1.00) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 121.9mm grav_b=(-0.01,-0.03,-1.00) r=0.24m +[headless_play] t= 4.50s step= 225 trunk_z= 119.3mm grav_b=(-0.04,-0.10,-0.99) r=0.23m +[headless_play] t= 4.60s step= 230 trunk_z= 117.6mm grav_b=(-0.10,-0.06,-0.99) r=0.23m +[headless_play] t= 4.70s step= 235 trunk_z= 118.8mm grav_b=(-0.04,-0.01,-1.00) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 119.7mm grav_b=(+0.07,-0.01,-1.00) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 121.3mm grav_b=(+0.06,-0.02,-1.00) r=0.21m +[headless_play] t= 5.00s step= 250 trunk_z= 119.3mm grav_b=(+0.01,-0.07,-1.00) r=0.21m +[headless_play] t= 5.10s step= 255 trunk_z= 118.7mm grav_b=(-0.05,-0.04,-1.00) r=0.21m +[headless_play] t= 5.20s step= 260 trunk_z= 117.9mm grav_b=(-0.10,+0.02,-0.99) r=0.21m +[headless_play] t= 5.30s step= 265 trunk_z= 119.5mm grav_b=(-0.05,-0.00,-1.00) r=0.21m +[headless_play] t= 5.40s step= 270 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.21m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 5.60s step= 280 trunk_z= 117.1mm grav_b=(+0.00,+0.00,-1.00) r=0.20m +[headless_play] t= 5.70s step= 285 trunk_z= 116.6mm grav_b=(+0.04,+0.00,-1.00) r=0.20m +[headless_play] t= 5.80s step= 290 trunk_z= 116.8mm grav_b=(+0.05,+0.00,-1.00) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 117.8mm grav_b=(+0.03,-0.03,-1.00) r=0.20m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(+0.00,-0.01,-1.00) r=0.20m +[headless_play] t= 6.10s step= 305 trunk_z= 117.8mm grav_b=(-0.00,-0.02,-1.00) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(-0.01,-0.12,-0.99) r=0.18m +[headless_play] t= 6.30s step= 315 trunk_z= 118.3mm grav_b=(-0.01,-0.09,-1.00) r=0.16m +[headless_play] t= 6.40s step= 320 trunk_z= 112.8mm grav_b=(+0.00,+0.04,-1.00) r=0.16m +[headless_play] t= 6.50s step= 325 trunk_z= 119.2mm grav_b=(-0.02,+0.10,-0.99) r=0.15m +[headless_play] t= 6.60s step= 330 trunk_z= 116.1mm grav_b=(+0.04,+0.06,-1.00) r=0.14m +[headless_play] t= 6.70s step= 335 trunk_z= 111.1mm grav_b=(+0.04,-0.11,-0.99) r=0.12m +[headless_play] t= 6.80s step= 340 trunk_z= 120.3mm grav_b=(+0.03,-0.22,-0.97) r=0.10m +[headless_play] t= 6.90s step= 345 trunk_z= 122.6mm grav_b=(-0.02,-0.25,-0.97) r=0.10m +[headless_play] t= 7.00s step= 350 trunk_z= 125.3mm grav_b=(+0.05,-0.23,-0.97) r=0.08m +[headless_play] t= 7.10s step= 355 trunk_z= 124.2mm grav_b=(-0.03,-0.08,-1.00) r=0.04m +[headless_play] t= 7.20s step= 360 trunk_z= 128.3mm grav_b=(+0.16,+0.02,-0.99) r=0.01m +[headless_play] t= 7.30s step= 365 trunk_z= 136.5mm grav_b=(+0.07,-0.03,-1.00) r=0.03m +[headless_play] t= 7.40s step= 370 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.07m +[headless_play] t= 7.50s step= 375 trunk_z= 121.9mm grav_b=(-0.08,+0.01,-1.00) r=0.09m +[headless_play] t= 7.60s step= 380 trunk_z= 121.6mm grav_b=(-0.08,+0.08,-0.99) r=0.11m +[headless_play] t= 7.70s step= 385 trunk_z= 121.0mm grav_b=(-0.04,+0.03,-1.00) r=0.11m +[headless_play] t= 7.80s step= 390 trunk_z= 125.6mm grav_b=(+0.02,-0.17,-0.99) r=0.12m +[headless_play] t= 7.90s step= 395 trunk_z= 131.2mm grav_b=(+0.03,-0.20,-0.98) r=0.14m +[headless_play] t= 8.00s step= 400 trunk_z= 134.8mm grav_b=(+0.01,-0.17,-0.99) r=0.16m +[headless_play] t= 8.10s step= 405 trunk_z= 128.5mm grav_b=(-0.04,-0.15,-0.99) r=0.20m +[headless_play] t= 8.20s step= 410 trunk_z= 136.1mm grav_b=(-0.05,-0.06,-1.00) r=0.24m +[headless_play] t= 8.30s step= 415 trunk_z= 117.0mm grav_b=(-0.05,-0.06,-1.00) r=0.27m +[headless_play] t= 8.40s step= 420 trunk_z= 119.8mm grav_b=(-0.09,-0.10,-0.99) r=0.28m +[headless_play] t= 8.50s step= 425 trunk_z= 124.9mm grav_b=(-0.14,-0.07,-0.99) r=0.27m +[headless_play] t= 8.60s step= 430 trunk_z= 116.2mm grav_b=(-0.06,+0.08,-0.99) r=0.26m +[headless_play] t= 8.70s step= 435 trunk_z= 123.5mm grav_b=(-0.08,+0.10,-0.99) r=0.24m +[headless_play] t= 8.80s step= 440 trunk_z= 122.1mm grav_b=(-0.04,+0.04,-1.00) r=0.24m +[headless_play] t= 8.90s step= 445 trunk_z= 121.7mm grav_b=(-0.02,-0.09,-1.00) r=0.24m +[headless_play] t= 9.00s step= 450 trunk_z= 122.0mm grav_b=(+0.00,-0.09,-1.00) r=0.25m +[headless_play] t= 9.10s step= 455 trunk_z= 119.2mm grav_b=(+0.03,-0.02,-1.00) r=0.25m +[headless_play] t= 9.20s step= 460 trunk_z= 126.0mm grav_b=(+0.02,+0.06,-1.00) r=0.26m +[headless_play] t= 9.30s step= 465 trunk_z= 122.8mm grav_b=(-0.02,-0.01,-1.00) r=0.27m +[headless_play] t= 9.40s step= 470 trunk_z= 120.0mm grav_b=(-0.16,-0.02,-0.99) r=0.27m +[headless_play] t= 9.50s step= 475 trunk_z= 120.5mm grav_b=(-0.06,+0.07,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 121.9mm grav_b=(-0.05,+0.15,-0.99) r=0.26m +[headless_play] t= 9.70s step= 485 trunk_z= 123.4mm grav_b=(-0.05,+0.10,-0.99) r=0.25m +[headless_play] t= 9.80s step= 490 trunk_z= 119.1mm grav_b=(-0.02,-0.05,-1.00) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 125.7mm grav_b=(-0.01,-0.10,-0.99) r=0.26m +[headless_play] t= 10.00s step= 500 trunk_z= 127.3mm grav_b=(+0.03,-0.12,-0.99) r=0.27m +[headless_play] t= 10.10s step= 505 trunk_z= 127.0mm grav_b=(+0.03,-0.11,-0.99) r=0.28m +[headless_play] t= 10.20s step= 510 trunk_z= 123.3mm grav_b=(+0.02,+0.04,-1.00) r=0.30m +[headless_play] t= 10.30s step= 515 trunk_z= 125.0mm grav_b=(-0.00,+0.03,-1.00) r=0.31m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(-0.07,-0.06,-1.00) r=0.32m +[headless_play] t= 10.50s step= 525 trunk_z= 128.1mm grav_b=(-0.08,-0.14,-0.99) r=0.34m +[headless_play] t= 10.60s step= 530 trunk_z= 127.6mm grav_b=(+0.02,-0.14,-0.99) r=0.36m +[headless_play] t= 10.70s step= 535 trunk_z= 122.8mm grav_b=(+0.06,-0.09,-0.99) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 121.4mm grav_b=(+0.00,+0.08,-1.00) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 115.2mm grav_b=(+0.06,-0.02,-1.00) r=0.43m +[headless_play] t= 11.10s step= 555 trunk_z= 118.5mm grav_b=(+0.03,-0.11,-0.99) r=0.44m +[headless_play] t= 11.20s step= 560 trunk_z= 116.4mm grav_b=(+0.05,-0.09,-0.99) r=0.45m +[headless_play] t= 11.30s step= 565 trunk_z= 112.8mm grav_b=(+0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 11.40s step= 570 trunk_z= 121.3mm grav_b=(+0.01,+0.09,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 120.6mm grav_b=(+0.09,+0.13,-0.99) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 121.9mm grav_b=(+0.04,+0.03,-1.00) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 127.4mm grav_b=(-0.05,-0.14,-0.99) r=0.52m +[headless_play] t= 11.80s step= 590 trunk_z= 130.3mm grav_b=(-0.02,-0.17,-0.99) r=0.54m +[headless_play] t= 11.90s step= 595 trunk_z= 126.9mm grav_b=(+0.04,-0.12,-0.99) r=0.56m +[headless_play] t= 12.00s step= 600 trunk_z= 121.9mm grav_b=(+0.05,-0.06,-1.00) r=0.56m +[headless_play] t= 12.10s step= 605 trunk_z= 123.2mm grav_b=(+0.00,+0.06,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 121.4mm grav_b=(-0.01,+0.07,-1.00) r=0.59m +[headless_play] t= 12.30s step= 615 trunk_z= 114.9mm grav_b=(+0.02,-0.06,-1.00) r=0.60m +[headless_play] t= 12.40s step= 620 trunk_z= 121.5mm grav_b=(+0.09,-0.19,-0.98) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 123.5mm grav_b=(+0.17,-0.23,-0.96) r=0.65m +[headless_play] t= 12.60s step= 630 trunk_z= 126.2mm grav_b=(-0.00,-0.04,-1.00) r=0.68m +[headless_play] t= 12.70s step= 635 trunk_z= 120.0mm grav_b=(+0.07,+0.17,-0.98) r=0.72m +[headless_play] t= 12.80s step= 640 trunk_z= 136.7mm grav_b=(-0.01,+0.17,-0.99) r=0.74m +[headless_play] t= 12.90s step= 645 trunk_z= 131.3mm grav_b=(-0.02,-0.01,-1.00) r=0.78m +[headless_play] t= 13.00s step= 650 trunk_z= 127.9mm grav_b=(-0.08,-0.11,-0.99) r=0.83m +[headless_play] t= 13.10s step= 655 trunk_z= 132.7mm grav_b=(+0.00,-0.13,-0.99) r=0.85m +[headless_play] t= 13.20s step= 660 trunk_z= 123.3mm grav_b=(+0.05,-0.03,-1.00) r=0.88m +[headless_play] t= 13.30s step= 665 trunk_z= 121.8mm grav_b=(+0.12,+0.14,-0.98) r=0.92m +[headless_play] t= 13.40s step= 670 trunk_z= 128.2mm grav_b=(+0.08,+0.15,-0.99) r=0.93m +[headless_play] t= 13.50s step= 675 trunk_z= 122.1mm grav_b=(-0.03,+0.01,-1.00) r=0.96m +[headless_play] t= 13.60s step= 680 trunk_z= 131.5mm grav_b=(-0.06,-0.05,-1.00) r=0.97m +[headless_play] t= 13.70s step= 685 trunk_z= 126.9mm grav_b=(-0.03,-0.08,-1.00) r=0.99m +[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=1.01m +[headless_play] t= 13.90s step= 695 trunk_z= 121.2mm grav_b=(+0.04,+0.08,-1.00) r=1.02m +[headless_play] t= 14.00s step= 700 trunk_z= 119.7mm grav_b=(-0.00,+0.04,-1.00) r=1.03m +[headless_play] t= 14.10s step= 705 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=1.04m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=1.06m +[headless_play] t= 14.30s step= 715 trunk_z= 113.9mm grav_b=(-0.01,+0.07,-1.00) r=1.07m +[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(-0.01,+0.05,-1.00) r=1.08m +[headless_play] t= 14.50s step= 725 trunk_z= 111.3mm grav_b=(+0.03,-0.06,-1.00) r=1.09m +[headless_play] t= 14.60s step= 730 trunk_z= 114.7mm grav_b=(+0.05,-0.10,-0.99) r=1.10m +[headless_play] t= 14.70s step= 735 trunk_z= 112.1mm grav_b=(+0.08,-0.07,-0.99) r=1.11m +[headless_play] t= 14.80s step= 740 trunk_z= 115.5mm grav_b=(+0.00,+0.07,-1.00) r=1.12m +[headless_play] t= 14.90s step= 745 trunk_z= 118.8mm grav_b=(+0.01,+0.07,-1.00) r=1.13m +[headless_play] t= 15.00s step= 750 trunk_z= 117.8mm grav_b=(+0.03,+0.06,-1.00) r=1.14m +[headless_play] t= 15.10s step= 755 trunk_z= 113.3mm grav_b=(+0.05,-0.02,-1.00) r=1.15m +[headless_play] t= 15.20s step= 760 trunk_z= 116.2mm grav_b=(+0.03,-0.09,-1.00) r=1.16m +[headless_play] t= 15.30s step= 765 trunk_z= 113.3mm grav_b=(+0.08,-0.07,-0.99) r=1.16m +[headless_play] t= 15.40s step= 770 trunk_z= 112.9mm grav_b=(+0.02,+0.04,-1.00) r=1.18m +[headless_play] t= 15.50s step= 775 trunk_z= 118.6mm grav_b=(+0.02,+0.06,-1.00) r=1.19m +[headless_play] t= 15.60s step= 780 trunk_z= 113.2mm grav_b=(+0.04,-0.07,-1.00) r=1.21m +[headless_play] t= 15.70s step= 785 trunk_z= 118.2mm grav_b=(+0.04,-0.13,-0.99) r=1.22m +[headless_play] t= 15.80s step= 790 trunk_z= 115.8mm grav_b=(+0.07,-0.10,-0.99) r=1.22m +[headless_play] t= 15.90s step= 795 trunk_z= 113.6mm grav_b=(+0.03,+0.03,-1.00) r=1.23m +[headless_play] t= 16.00s step= 800 trunk_z= 120.9mm grav_b=(+0.00,+0.09,-1.00) r=1.25m +[headless_play] t= 16.10s step= 805 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=1.26m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(+0.02,-0.08,-1.00) r=1.27m +[headless_play] t= 16.30s step= 815 trunk_z= 114.9mm grav_b=(+0.07,-0.07,-1.00) r=1.28m +[headless_play] t= 16.40s step= 820 trunk_z= 111.4mm grav_b=(-0.02,+0.07,-1.00) r=1.29m +[headless_play] t= 16.50s step= 825 trunk_z= 122.3mm grav_b=(-0.05,+0.13,-0.99) r=1.29m +[headless_play] t= 16.60s step= 830 trunk_z= 122.6mm grav_b=(-0.05,+0.09,-0.99) r=1.30m +[headless_play] t= 16.70s step= 835 trunk_z= 112.7mm grav_b=(-0.00,-0.03,-1.00) r=1.29m +[headless_play] t= 16.80s step= 840 trunk_z= 113.4mm grav_b=(+0.07,-0.11,-0.99) r=1.30m +[headless_play] t= 16.90s step= 845 trunk_z= 112.3mm grav_b=(+0.10,-0.10,-0.99) r=1.30m +[headless_play] t= 17.00s step= 850 trunk_z= 112.8mm grav_b=(+0.03,+0.02,-1.00) r=1.31m +[headless_play] t= 17.10s step= 855 trunk_z= 123.2mm grav_b=(+0.02,+0.10,-1.00) r=1.33m +[headless_play] t= 17.20s step= 860 trunk_z= 119.5mm grav_b=(+0.02,+0.03,-1.00) r=1.34m +[headless_play] t= 17.30s step= 865 trunk_z= 121.3mm grav_b=(-0.07,-0.09,-0.99) r=1.35m +[headless_play] t= 17.40s step= 870 trunk_z= 123.7mm grav_b=(-0.01,-0.06,-1.00) r=1.36m +[headless_play] t= 17.50s step= 875 trunk_z= 117.8mm grav_b=(+0.02,+0.01,-1.00) r=1.36m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(+0.03,+0.08,-1.00) r=1.36m +[headless_play] t= 17.70s step= 885 trunk_z= 113.5mm grav_b=(+0.08,+0.04,-1.00) r=1.37m +[headless_play] t= 17.80s step= 890 trunk_z= 115.6mm grav_b=(+0.04,-0.11,-0.99) r=1.38m +[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(+0.05,-0.11,-0.99) r=1.39m +[headless_play] t= 18.00s step= 900 trunk_z= 112.9mm grav_b=(+0.07,-0.04,-1.00) r=1.40m +[headless_play] t= 18.10s step= 905 trunk_z= 118.5mm grav_b=(+0.02,+0.08,-1.00) r=1.41m +[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(+0.01,+0.04,-1.00) r=1.42m +[headless_play] t= 18.30s step= 915 trunk_z= 113.9mm grav_b=(-0.00,-0.09,-1.00) r=1.42m +[headless_play] t= 18.40s step= 920 trunk_z= 115.2mm grav_b=(+0.04,-0.09,-1.00) r=1.43m +[headless_play] t= 18.50s step= 925 trunk_z= 112.4mm grav_b=(+0.08,-0.06,-1.00) r=1.44m +[headless_play] t= 18.60s step= 930 trunk_z= 115.0mm grav_b=(+0.04,+0.07,-1.00) r=1.46m +[headless_play] t= 18.70s step= 935 trunk_z= 117.5mm grav_b=(+0.05,+0.05,-1.00) r=1.48m +[headless_play] t= 18.80s step= 940 trunk_z= 112.8mm grav_b=(+0.05,-0.06,-1.00) r=1.49m +[headless_play] t= 18.90s step= 945 trunk_z= 114.3mm grav_b=(+0.06,-0.01,-1.00) r=1.51m +[headless_play] t= 19.00s step= 950 trunk_z= 112.4mm grav_b=(+0.03,+0.10,-0.99) r=1.52m +[headless_play] t= 19.10s step= 955 trunk_z= 116.4mm grav_b=(+0.04,+0.09,-1.00) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 111.9mm grav_b=(+0.03,-0.04,-1.00) r=1.54m +[headless_play] t= 19.30s step= 965 trunk_z= 117.7mm grav_b=(+0.01,-0.13,-0.99) r=1.55m +[headless_play] t= 19.40s step= 970 trunk_z= 116.3mm grav_b=(+0.07,-0.13,-0.99) r=1.56m +[headless_play] t= 19.50s step= 975 trunk_z= 112.5mm grav_b=(+0.06,-0.05,-1.00) r=1.57m +[headless_play] t= 19.60s step= 980 trunk_z= 122.4mm grav_b=(-0.02,+0.05,-1.00) r=1.58m +[headless_play] t= 19.70s step= 985 trunk_z= 121.5mm grav_b=(-0.04,+0.03,-1.00) r=1.58m +[headless_play] t= 19.80s step= 990 trunk_z= 119.6mm grav_b=(-0.01,-0.08,-1.00) r=1.58m +[headless_play] t= 19.90s step= 995 trunk_z= 122.8mm grav_b=(-0.03,-0.10,-0.99) r=1.59m +[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=0.33m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..b7494c9e9ee951f5a81213d251f54c170cbdaae7 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/mxb-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.8mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.022,+0.244,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,+0.00,-1.00) r=0.24m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.06,-0.00,-1.00) r=0.24m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(-0.08,+0.04,-1.00) r=0.24m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(-0.09,+0.01,-1.00) r=0.24m +[headless_play] t= 0.40s step= 20 trunk_z= 117.6mm grav_b=(-0.10,-0.00,-1.00) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 118.0mm grav_b=(-0.08,+0.05,-0.99) r=0.24m +[headless_play] t= 0.60s step= 30 trunk_z= 121.7mm grav_b=(-0.12,+0.04,-0.99) r=0.25m +[headless_play] t= 0.70s step= 35 trunk_z= 120.6mm grav_b=(-0.13,-0.09,-0.99) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 124.0mm grav_b=(-0.12,-0.12,-0.99) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 122.6mm grav_b=(-0.08,-0.09,-0.99) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 120.8mm grav_b=(-0.06,+0.04,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 125.3mm grav_b=(-0.10,+0.08,-0.99) r=0.28m +[headless_play] t= 1.20s step= 60 trunk_z= 120.5mm grav_b=(-0.13,+0.00,-0.99) r=0.30m +[headless_play] t= 1.30s step= 65 trunk_z= 124.8mm grav_b=(-0.14,-0.10,-0.99) r=0.31m +[headless_play] t= 1.40s step= 70 trunk_z= 124.1mm grav_b=(-0.14,-0.07,-0.99) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 120.3mm grav_b=(-0.12,+0.05,-0.99) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 126.7mm grav_b=(-0.10,+0.10,-0.99) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 123.0mm grav_b=(-0.11,+0.05,-0.99) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 123.6mm grav_b=(-0.16,-0.08,-0.98) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 126.1mm grav_b=(-0.14,-0.10,-0.98) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 125.3mm grav_b=(-0.13,-0.07,-0.99) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 121.2mm grav_b=(-0.13,+0.04,-0.99) r=0.31m +[headless_play] t= 2.20s step= 110 trunk_z= 125.9mm grav_b=(-0.11,+0.08,-0.99) r=0.30m +[headless_play] t= 2.30s step= 115 trunk_z= 122.2mm grav_b=(-0.08,+0.01,-1.00) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 123.7mm grav_b=(-0.10,-0.11,-0.99) r=0.33m +[headless_play] t= 2.50s step= 125 trunk_z= 124.6mm grav_b=(-0.09,-0.12,-0.99) r=0.34m +[headless_play] t= 2.60s step= 130 trunk_z= 123.3mm grav_b=(-0.10,-0.07,-0.99) r=0.34m +[headless_play] t= 2.70s step= 135 trunk_z= 122.8mm grav_b=(-0.10,+0.07,-0.99) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 126.0mm grav_b=(-0.13,+0.09,-0.99) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 120.2mm grav_b=(-0.17,+0.01,-0.99) r=0.34m +[headless_play] t= 3.00s step= 150 trunk_z= 123.8mm grav_b=(-0.15,-0.08,-0.99) r=0.34m +[headless_play] t= 3.10s step= 155 trunk_z= 124.4mm grav_b=(-0.13,-0.06,-0.99) r=0.34m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(-0.10,+0.03,-0.99) r=0.32m +[headless_play] t= 3.30s step= 165 trunk_z= 123.7mm grav_b=(-0.12,+0.07,-0.99) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 122.7mm grav_b=(-0.10,+0.03,-0.99) r=0.31m +[headless_play] t= 3.50s step= 175 trunk_z= 119.8mm grav_b=(-0.12,-0.08,-0.99) r=0.32m +[headless_play] t= 3.60s step= 180 trunk_z= 122.9mm grav_b=(-0.16,-0.11,-0.98) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 123.3mm grav_b=(-0.14,-0.09,-0.99) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 120.9mm grav_b=(-0.10,-0.05,-0.99) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 121.2mm grav_b=(-0.08,+0.08,-0.99) r=0.32m +[headless_play] t= 4.00s step= 200 trunk_z= 121.3mm grav_b=(-0.06,+0.05,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 118.2mm grav_b=(-0.10,-0.04,-0.99) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 116.7mm grav_b=(-0.15,-0.01,-0.99) r=0.32m +[headless_play] t= 4.30s step= 215 trunk_z= 116.9mm grav_b=(-0.16,+0.02,-0.99) r=0.32m +[headless_play] t= 4.40s step= 220 trunk_z= 116.8mm grav_b=(-0.16,+0.02,-0.99) r=0.32m +[headless_play] t= 4.50s step= 225 trunk_z= 116.8mm grav_b=(-0.21,-0.00,-0.98) r=0.31m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(-0.25,+0.04,-0.97) r=0.31m +[headless_play] t= 4.70s step= 235 trunk_z= 101.4mm grav_b=(-0.12,+0.11,-0.99) r=0.29m +[headless_play] t= 4.80s step= 240 trunk_z= 108.0mm grav_b=(-0.18,+0.08,-0.98) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 108.5mm grav_b=(-0.16,-0.02,-0.99) r=0.27m +[headless_play] t= 5.00s step= 250 trunk_z= 112.2mm grav_b=(-0.16,-0.03,-0.99) r=0.26m +[headless_play] t= 5.10s step= 255 trunk_z= 114.3mm grav_b=(-0.15,-0.01,-0.99) r=0.25m +[headless_play] t= 5.20s step= 260 trunk_z= 115.3mm grav_b=(-0.13,-0.02,-0.99) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 115.1mm grav_b=(-0.13,-0.03,-0.99) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 114.8mm grav_b=(-0.14,-0.03,-0.99) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 114.7mm grav_b=(-0.15,-0.03,-0.99) r=0.25m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(-0.17,-0.03,-0.99) r=0.25m +[headless_play] t= 5.70s step= 285 trunk_z= 114.7mm grav_b=(-0.24,-0.02,-0.97) r=0.24m +[headless_play] t= 5.80s step= 290 trunk_z= 103.7mm grav_b=(-0.18,+0.10,-0.98) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(-0.23,+0.07,-0.97) r=0.21m +[headless_play] t= 6.00s step= 300 trunk_z= 110.0mm grav_b=(-0.14,-0.02,-0.99) r=0.21m +[headless_play] t= 6.10s step= 305 trunk_z= 115.9mm grav_b=(-0.13,-0.07,-0.99) r=0.21m +[headless_play] t= 6.20s step= 310 trunk_z= 113.7mm grav_b=(-0.13,+0.01,-0.99) r=0.19m +[headless_play] t= 6.30s step= 315 trunk_z= 116.4mm grav_b=(-0.13,-0.01,-0.99) r=0.19m +[headless_play] t= 6.40s step= 320 trunk_z= 116.7mm grav_b=(-0.21,-0.05,-0.98) r=0.19m +[headless_play] t= 6.50s step= 325 trunk_z= 107.0mm grav_b=(-0.10,+0.09,-0.99) r=0.19m +[headless_play] t= 6.60s step= 330 trunk_z= 108.6mm grav_b=(-0.19,+0.12,-0.97) r=0.18m +[headless_play] t= 6.70s step= 335 trunk_z= 113.9mm grav_b=(-0.13,+0.03,-0.99) r=0.20m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(-0.11,-0.07,-0.99) r=0.21m +[headless_play] t= 6.90s step= 345 trunk_z= 113.9mm grav_b=(-0.14,-0.04,-0.99) r=0.21m +[headless_play] t= 7.00s step= 350 trunk_z= 115.1mm grav_b=(-0.09,+0.01,-1.00) r=0.21m +[headless_play] t= 7.10s step= 355 trunk_z= 115.7mm grav_b=(-0.07,+0.01,-1.00) r=0.21m +[headless_play] t= 7.20s step= 360 trunk_z= 115.6mm grav_b=(-0.08,+0.01,-1.00) r=0.21m +[headless_play] t= 7.30s step= 365 trunk_z= 117.9mm grav_b=(-0.07,-0.04,-1.00) r=0.21m +[headless_play] t= 7.40s step= 370 trunk_z= 116.9mm grav_b=(-0.10,-0.02,-1.00) r=0.21m +[headless_play] t= 7.50s step= 375 trunk_z= 116.2mm grav_b=(-0.12,-0.01,-0.99) r=0.22m +[headless_play] t= 7.60s step= 380 trunk_z= 116.3mm grav_b=(-0.13,-0.00,-0.99) r=0.21m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(-0.13,-0.00,-0.99) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 116.5mm grav_b=(-0.11,+0.00,-0.99) r=0.21m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(-0.12,-0.00,-0.99) r=0.22m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(-0.13,-0.00,-0.99) r=0.22m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.13,-0.01,-0.99) r=0.22m +[headless_play] t= 8.20s step= 410 trunk_z= 116.4mm grav_b=(-0.13,-0.01,-0.99) r=0.22m +[headless_play] t= 8.30s step= 415 trunk_z= 116.4mm grav_b=(-0.15,-0.00,-0.99) r=0.22m +[headless_play] t= 8.40s step= 420 trunk_z= 116.5mm grav_b=(-0.17,+0.00,-0.99) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 114.5mm grav_b=(-0.14,+0.04,-0.99) r=0.22m +[headless_play] t= 8.60s step= 430 trunk_z= 113.9mm grav_b=(-0.19,+0.06,-0.98) r=0.23m +[headless_play] t= 8.70s step= 435 trunk_z= 110.8mm grav_b=(-0.12,-0.01,-0.99) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 112.8mm grav_b=(-0.08,-0.13,-0.99) r=0.26m +[headless_play] t= 8.90s step= 445 trunk_z= 114.7mm grav_b=(-0.09,-0.15,-0.98) r=0.27m +[headless_play] t= 9.00s step= 450 trunk_z= 113.9mm grav_b=(-0.07,-0.09,-0.99) r=0.26m +[headless_play] t= 9.10s step= 455 trunk_z= 114.8mm grav_b=(-0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 9.20s step= 460 trunk_z= 115.8mm grav_b=(-0.05,+0.00,-1.00) r=0.25m +[headless_play] t= 9.30s step= 465 trunk_z= 115.8mm grav_b=(-0.08,+0.01,-1.00) r=0.25m +[headless_play] t= 9.40s step= 470 trunk_z= 115.9mm grav_b=(-0.09,+0.00,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 115.9mm grav_b=(-0.08,+0.00,-1.00) r=0.26m +[headless_play] t= 9.60s step= 480 trunk_z= 115.9mm grav_b=(-0.07,+0.00,-1.00) r=0.26m +[headless_play] t= 9.70s step= 485 trunk_z= 116.4mm grav_b=(-0.08,+0.01,-1.00) r=0.25m +[headless_play] t= 9.80s step= 490 trunk_z= 117.2mm grav_b=(-0.07,+0.03,-1.00) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.25m +[headless_play] t= 10.00s step= 500 trunk_z= 120.1mm grav_b=(+0.06,-0.01,-1.00) r=0.25m +[headless_play] t= 10.10s step= 505 trunk_z= 124.6mm grav_b=(-0.10,+0.02,-0.99) r=0.24m +[headless_play] t= 10.20s step= 510 trunk_z= 109.7mm grav_b=(-0.13,+0.18,-0.98) r=0.22m +[headless_play] t= 10.30s step= 515 trunk_z= 124.5mm grav_b=(-0.12,+0.12,-0.99) r=0.22m +[headless_play] t= 10.40s step= 520 trunk_z= 121.6mm grav_b=(-0.13,+0.05,-0.99) r=0.24m +[headless_play] t= 10.50s step= 525 trunk_z= 125.8mm grav_b=(-0.17,-0.12,-0.98) r=0.27m +[headless_play] t= 10.60s step= 530 trunk_z= 131.0mm grav_b=(-0.27,-0.13,-0.95) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 132.4mm grav_b=(-0.25,-0.17,-0.95) r=0.31m +[headless_play] t= 10.80s step= 540 trunk_z= 79.1mm grav_b=(-0.36,-0.22,-0.91) r=0.34m +[headless_play] t= 10.90s step= 545 trunk_z= 70.3mm grav_b=(-0.42,-0.37,-0.83) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 75.8mm grav_b=(-0.68,-0.28,-0.68) r=0.44m +[headless_play] RESET at t= 11.10s step= 555 (env termination, not a recovery) +[headless_play] t= 11.10s step= 555 trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) r=0.08m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(-0.08,-0.01,-1.00) r=0.09m +[headless_play] t= 11.30s step= 565 trunk_z= 117.0mm grav_b=(-0.12,+0.01,-0.99) r=0.09m +[headless_play] t= 11.40s step= 570 trunk_z= 117.2mm grav_b=(-0.14,+0.02,-0.99) r=0.09m +[headless_play] t= 11.50s step= 575 trunk_z= 115.1mm grav_b=(-0.09,+0.11,-0.99) r=0.09m +[headless_play] t= 11.60s step= 580 trunk_z= 110.1mm grav_b=(-0.14,+0.18,-0.97) r=0.09m +[headless_play] t= 11.70s step= 585 trunk_z= 114.2mm grav_b=(-0.10,+0.15,-0.98) r=0.09m +[headless_play] t= 11.80s step= 590 trunk_z= 107.1mm grav_b=(+0.01,+0.07,-1.00) r=0.10m +[headless_play] t= 11.90s step= 595 trunk_z= 107.6mm grav_b=(+0.05,+0.03,-1.00) r=0.11m +[headless_play] t= 12.00s step= 600 trunk_z= 109.8mm grav_b=(+0.02,+0.03,-1.00) r=0.12m +[headless_play] t= 12.10s step= 605 trunk_z= 114.5mm grav_b=(-0.03,-0.02,-1.00) r=0.13m +[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(-0.05,-0.00,-1.00) r=0.13m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 12.50s step= 625 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 12.90s step= 645 trunk_z= 116.8mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(-0.05,+0.00,-1.00) r=0.13m +[headless_play] t= 13.10s step= 655 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.13m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.13m +[headless_play] t= 13.30s step= 665 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.13m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(-0.06,+0.01,-1.00) r=0.13m +[headless_play] t= 13.50s step= 675 trunk_z= 117.1mm grav_b=(-0.06,+0.01,-1.00) r=0.13m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(-0.06,+0.01,-1.00) r=0.13m +[headless_play] t= 13.70s step= 685 trunk_z= 117.0mm grav_b=(-0.05,+0.01,-1.00) r=0.13m +[headless_play] t= 13.80s step= 690 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.13m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 14.00s step= 700 trunk_z= 118.1mm grav_b=(-0.07,+0.02,-1.00) r=0.13m +[headless_play] t= 14.10s step= 705 trunk_z= 117.6mm grav_b=(-0.09,+0.01,-1.00) r=0.14m +[headless_play] t= 14.20s step= 710 trunk_z= 117.6mm grav_b=(-0.08,+0.01,-1.00) r=0.14m +[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.13m +[headless_play] t= 14.40s step= 720 trunk_z= 117.3mm grav_b=(-0.05,+0.01,-1.00) r=0.13m +[headless_play] t= 14.50s step= 725 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.13m +[headless_play] t= 14.60s step= 730 trunk_z= 117.2mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 14.70s step= 735 trunk_z= 117.3mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 14.80s step= 740 trunk_z= 117.3mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 14.90s step= 745 trunk_z= 117.2mm grav_b=(-0.07,+0.02,-1.00) r=0.13m +[headless_play] t= 15.00s step= 750 trunk_z= 117.0mm grav_b=(-0.05,+0.02,-1.00) r=0.13m +[headless_play] t= 15.10s step= 755 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(-0.00,+0.02,-1.00) r=0.13m +[headless_play] t= 15.30s step= 765 trunk_z= 117.0mm grav_b=(+0.01,+0.02,-1.00) r=0.13m +[headless_play] t= 15.40s step= 770 trunk_z= 117.1mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.04,+0.03,-1.00) r=0.13m +[headless_play] t= 15.60s step= 780 trunk_z= 118.2mm grav_b=(-0.08,+0.04,-1.00) r=0.13m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.13m +[headless_play] t= 15.80s step= 790 trunk_z= 117.4mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 15.90s step= 795 trunk_z= 117.3mm grav_b=(-0.01,+0.02,-1.00) r=0.13m +[headless_play] t= 16.00s step= 800 trunk_z= 117.4mm grav_b=(-0.01,+0.02,-1.00) r=0.13m +[headless_play] t= 16.10s step= 805 trunk_z= 117.4mm grav_b=(-0.02,+0.02,-1.00) r=0.13m +[headless_play] t= 16.20s step= 810 trunk_z= 117.4mm grav_b=(-0.03,+0.02,-1.00) r=0.13m +[headless_play] t= 16.30s step= 815 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00) r=0.13m +[headless_play] t= 16.40s step= 820 trunk_z= 118.8mm grav_b=(+0.02,+0.01,-1.00) r=0.12m +[headless_play] t= 16.50s step= 825 trunk_z= 120.1mm grav_b=(+0.01,+0.02,-1.00) r=0.12m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(-0.08,+0.10,-0.99) r=0.12m +[headless_play] t= 16.70s step= 835 trunk_z= 120.2mm grav_b=(-0.11,+0.15,-0.98) r=0.12m +[headless_play] t= 16.80s step= 840 trunk_z= 116.5mm grav_b=(-0.11,+0.06,-0.99) r=0.12m +[headless_play] t= 16.90s step= 845 trunk_z= 117.8mm grav_b=(-0.08,+0.02,-1.00) r=0.12m +[headless_play] t= 17.00s step= 850 trunk_z= 117.4mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 17.10s step= 855 trunk_z= 117.4mm grav_b=(+0.02,+0.02,-1.00) r=0.11m +[headless_play] t= 17.20s step= 860 trunk_z= 118.2mm grav_b=(+0.01,+0.03,-1.00) r=0.11m +[headless_play] t= 17.30s step= 865 trunk_z= 118.2mm grav_b=(-0.03,+0.02,-1.00) r=0.11m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(-0.06,+0.02,-1.00) r=0.11m +[headless_play] t= 17.50s step= 875 trunk_z= 117.6mm grav_b=(-0.07,+0.02,-1.00) r=0.11m +[headless_play] t= 17.60s step= 880 trunk_z= 117.5mm grav_b=(-0.06,+0.02,-1.00) r=0.11m +[headless_play] t= 17.70s step= 885 trunk_z= 117.5mm grav_b=(-0.05,+0.02,-1.00) r=0.11m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(-0.03,+0.03,-1.00) r=0.11m +[headless_play] t= 17.90s step= 895 trunk_z= 117.5mm grav_b=(-0.03,+0.02,-1.00) r=0.11m +[headless_play] t= 18.00s step= 900 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 18.10s step= 905 trunk_z= 117.4mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 18.30s step= 915 trunk_z= 117.4mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 18.40s step= 920 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00) r=0.11m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(-0.04,+0.03,-1.00) r=0.11m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(-0.07,+0.08,-0.99) r=0.10m +[headless_play] t= 18.70s step= 935 trunk_z= 121.0mm grav_b=(-0.06,+0.13,-0.99) r=0.08m +[headless_play] t= 18.80s step= 940 trunk_z= 123.6mm grav_b=(-0.05,+0.14,-0.99) r=0.07m +[headless_play] t= 18.90s step= 945 trunk_z= 120.6mm grav_b=(-0.05,+0.04,-1.00) r=0.08m +[headless_play] t= 19.00s step= 950 trunk_z= 122.2mm grav_b=(-0.07,-0.07,-1.00) r=0.09m +[headless_play] t= 19.10s step= 955 trunk_z= 121.9mm grav_b=(-0.05,-0.01,-1.00) r=0.08m +[headless_play] t= 19.20s step= 960 trunk_z= 119.5mm grav_b=(-0.09,+0.11,-0.99) r=0.07m +[headless_play] t= 19.30s step= 965 trunk_z= 125.5mm grav_b=(-0.13,+0.11,-0.99) r=0.06m +[headless_play] t= 19.40s step= 970 trunk_z= 123.6mm grav_b=(-0.13,+0.08,-0.99) r=0.08m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(-0.11,-0.04,-0.99) r=0.09m +[headless_play] t= 19.60s step= 980 trunk_z= 121.0mm grav_b=(-0.11,-0.05,-0.99) r=0.10m +[headless_play] t= 19.70s step= 985 trunk_z= 119.3mm grav_b=(-0.12,-0.04,-0.99) r=0.09m +[headless_play] t= 19.80s step= 990 trunk_z= 116.8mm grav_b=(-0.11,+0.06,-0.99) r=0.08m +[headless_play] t= 19.90s step= 995 trunk_z= 121.9mm grav_b=(-0.13,+0.11,-0.99) r=0.07m +[headless_play] t= 20.00s step=1000 trunk_z= 119.8mm grav_b=(-0.11,+0.08,-0.99) r=0.08m +[headless_play] t= 20.10s step=1005 trunk_z= 114.1mm grav_b=(-0.05,-0.02,-1.00) r=0.10m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..d2dcfb255667c428b461d36fe1b2773920a1cb04 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.246,+0.095,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 123.5mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.26m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 0.30s step= 15 trunk_z= 120.3mm grav_b=(-0.03,+0.01,-1.00) r=0.27m +[headless_play] t= 0.40s step= 20 trunk_z= 123.4mm grav_b=(-0.04,+0.08,-1.00) r=0.29m +[headless_play] t= 0.50s step= 25 trunk_z= 125.1mm grav_b=(-0.03,+0.04,-1.00) r=0.30m +[headless_play] t= 0.60s step= 30 trunk_z= 122.0mm grav_b=(-0.06,-0.08,-1.00) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 127.8mm grav_b=(-0.09,-0.13,-0.99) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 124.1mm grav_b=(-0.07,-0.08,-0.99) r=0.34m +[headless_play] t= 0.90s step= 45 trunk_z= 123.3mm grav_b=(-0.06,+0.05,-1.00) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 124.7mm grav_b=(-0.05,+0.02,-1.00) r=0.36m +[headless_play] t= 1.10s step= 55 trunk_z= 118.2mm grav_b=(-0.04,-0.04,-1.00) r=0.36m +[headless_play] t= 1.20s step= 60 trunk_z= 126.6mm grav_b=(-0.06,-0.08,-0.99) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 124.5mm grav_b=(-0.06,-0.07,-1.00) r=0.39m +[headless_play] t= 1.40s step= 70 trunk_z= 121.6mm grav_b=(-0.06,+0.06,-1.00) r=0.41m +[headless_play] t= 1.50s step= 75 trunk_z= 125.6mm grav_b=(-0.05,+0.05,-1.00) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 119.1mm grav_b=(-0.08,-0.02,-1.00) r=0.41m +[headless_play] t= 1.70s step= 85 trunk_z= 126.0mm grav_b=(-0.06,-0.08,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 124.5mm grav_b=(-0.06,-0.08,-0.99) r=0.41m +[headless_play] t= 1.90s step= 95 trunk_z= 120.0mm grav_b=(-0.04,+0.04,-1.00) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 126.4mm grav_b=(-0.02,+0.04,-1.00) r=0.45m +[headless_play] t= 2.10s step= 105 trunk_z= 123.8mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 2.20s step= 110 trunk_z= 126.6mm grav_b=(-0.07,-0.12,-0.99) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 126.2mm grav_b=(-0.06,-0.14,-0.99) r=0.45m +[headless_play] t= 2.40s step= 120 trunk_z= 120.4mm grav_b=(+0.01,-0.09,-1.00) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 121.0mm grav_b=(-0.05,+0.07,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 126.8mm grav_b=(-0.11,+0.14,-0.98) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 131.5mm grav_b=(-0.13,+0.12,-0.98) r=0.51m +[headless_play] t= 2.80s step= 140 trunk_z= 124.9mm grav_b=(-0.06,+0.05,-1.00) r=0.51m +[headless_play] t= 2.90s step= 145 trunk_z= 120.8mm grav_b=(-0.00,+0.06,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 105.9mm grav_b=(+0.06,+0.06,-1.00) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 117.9mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 123.9mm grav_b=(-0.06,-0.11,-0.99) r=0.53m +[headless_play] t= 3.30s step= 165 trunk_z= 124.1mm grav_b=(-0.08,-0.12,-0.99) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 115.1mm grav_b=(-0.03,+0.00,-1.00) r=0.56m +[headless_play] t= 3.50s step= 175 trunk_z= 124.5mm grav_b=(-0.08,+0.16,-0.98) r=0.58m +[headless_play] t= 3.60s step= 180 trunk_z= 128.7mm grav_b=(-0.11,+0.15,-0.98) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 127.9mm grav_b=(-0.08,+0.06,-0.99) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 126.4mm grav_b=(+0.04,-0.03,-1.00) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 110.6mm grav_b=(-0.04,+0.04,-1.00) r=0.62m +[headless_play] t= 4.00s step= 200 trunk_z= 118.0mm grav_b=(+0.10,+0.05,-0.99) r=0.64m +[headless_play] t= 4.10s step= 205 trunk_z= 125.7mm grav_b=(+0.06,+0.00,-1.00) r=0.65m +[headless_play] t= 4.20s step= 210 trunk_z= 127.6mm grav_b=(-0.04,-0.11,-0.99) r=0.65m +[headless_play] t= 4.30s step= 215 trunk_z= 132.9mm grav_b=(-0.13,-0.17,-0.98) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 128.2mm grav_b=(-0.01,-0.15,-0.99) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 122.3mm grav_b=(+0.03,-0.12,-0.99) r=0.70m +[headless_play] t= 4.60s step= 230 trunk_z= 123.6mm grav_b=(-0.15,+0.10,-0.98) r=0.72m +[headless_play] t= 4.70s step= 235 trunk_z= 130.8mm grav_b=(-0.18,+0.14,-0.97) r=0.74m +[headless_play] t= 4.80s step= 240 trunk_z= 125.4mm grav_b=(-0.07,+0.01,-1.00) r=0.73m +[headless_play] t= 4.90s step= 245 trunk_z= 126.6mm grav_b=(+0.03,-0.03,-1.00) r=0.73m +[headless_play] t= 5.00s step= 250 trunk_z= 110.2mm grav_b=(-0.01,+0.03,-1.00) r=0.75m +[headless_play] t= 5.10s step= 255 trunk_z= 122.7mm grav_b=(+0.01,+0.06,-1.00) r=0.76m +[headless_play] t= 5.20s step= 260 trunk_z= 127.0mm grav_b=(-0.03,-0.00,-1.00) r=0.76m +[headless_play] t= 5.30s step= 265 trunk_z= 124.2mm grav_b=(-0.07,-0.13,-0.99) r=0.74m +[headless_play] t= 5.40s step= 270 trunk_z= 132.2mm grav_b=(-0.10,-0.22,-0.97) r=0.72m +[headless_play] t= 5.50s step= 275 trunk_z= 129.8mm grav_b=(-0.06,-0.21,-0.98) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 129.8mm grav_b=(-0.06,-0.21,-0.98) r=0.70m +[headless_play] t= 5.70s step= 285 trunk_z= 129.8mm grav_b=(-0.02,-0.22,-0.98) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 124.1mm grav_b=(-0.02,-0.12,-0.99) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 121.2mm grav_b=(-0.03,-0.01,-1.00) r=0.68m +[headless_play] t= 6.00s step= 300 trunk_z= 119.1mm grav_b=(+0.02,+0.02,-1.00) r=0.68m +[headless_play] t= 6.10s step= 305 trunk_z= 118.4mm grav_b=(-0.01,-0.01,-1.00) r=0.69m +[headless_play] t= 6.20s step= 310 trunk_z= 118.7mm grav_b=(-0.01,-0.00,-1.00) r=0.69m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(-0.03,+0.00,-1.00) r=0.69m +[headless_play] t= 6.40s step= 320 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 6.80s step= 340 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.69m +[headless_play] t= 6.90s step= 345 trunk_z= 118.4mm grav_b=(-0.09,+0.03,-1.00) r=0.70m +[headless_play] t= 7.00s step= 350 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.69m +[headless_play] t= 7.10s step= 355 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.68m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(+0.00,-0.01,-1.00) r=0.68m +[headless_play] t= 7.50s step= 375 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 7.60s step= 380 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 7.70s step= 385 trunk_z= 116.6mm grav_b=(-0.06,-0.02,-1.00) r=0.69m +[headless_play] t= 7.80s step= 390 trunk_z= 117.2mm grav_b=(-0.10,-0.01,-0.99) r=0.70m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(-0.11,-0.01,-0.99) r=0.70m +[headless_play] t= 8.00s step= 400 trunk_z= 117.1mm grav_b=(-0.10,-0.01,-0.99) r=0.70m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.09,-0.00,-1.00) r=0.70m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(-0.04,-0.00,-1.00) r=0.69m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(+0.03,-0.00,-1.00) r=0.68m +[headless_play] t= 8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.00,-0.00,-1.00) r=0.69m +[headless_play] t= 8.60s step= 430 trunk_z= 118.1mm grav_b=(-0.04,+0.02,-1.00) r=0.69m +[headless_play] t= 8.70s step= 435 trunk_z= 119.4mm grav_b=(-0.03,+0.02,-1.00) r=0.69m +[headless_play] t= 8.80s step= 440 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 8.90s step= 445 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 9.00s step= 450 trunk_z= 118.0mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.69m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(-0.02,-0.00,-1.00) r=0.69m +[headless_play] t= 9.30s step= 465 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.69m +[headless_play] t= 9.40s step= 470 trunk_z= 118.7mm grav_b=(-0.01,-0.04,-1.00) r=0.69m +[headless_play] t= 9.50s step= 475 trunk_z= 118.0mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 9.60s step= 480 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 9.70s step= 485 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 9.80s step= 490 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.69m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 117.7mm grav_b=(-0.03,-0.04,-1.00) r=0.69m +[headless_play] t= 10.20s step= 510 trunk_z= 117.6mm grav_b=(-0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 10.30s step= 515 trunk_z= 117.4mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.40s step= 520 trunk_z= 117.3mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.60s step= 530 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.70s step= 535 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.80s step= 540 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 10.90s step= 545 trunk_z= 118.0mm grav_b=(-0.04,-0.04,-1.00) r=0.69m +[headless_play] t= 11.00s step= 550 trunk_z= 117.8mm grav_b=(-0.05,-0.01,-1.00) r=0.69m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 11.20s step= 560 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00) r=0.69m +[headless_play] t= 11.40s step= 570 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 11.60s step= 580 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.69m +[headless_play] t= 11.70s step= 585 trunk_z= 117.2mm grav_b=(-0.04,-0.03,-1.00) r=0.69m +[headless_play] t= 11.80s step= 590 trunk_z= 117.7mm grav_b=(-0.11,-0.02,-0.99) r=0.70m +[headless_play] t= 11.90s step= 595 trunk_z= 117.7mm grav_b=(-0.10,-0.02,-0.99) r=0.70m +[headless_play] t= 12.00s step= 600 trunk_z= 114.9mm grav_b=(-0.08,+0.03,-1.00) r=0.71m +[headless_play] t= 12.10s step= 605 trunk_z= 116.3mm grav_b=(-0.09,+0.04,-1.00) r=0.71m +[headless_play] t= 12.20s step= 610 trunk_z= 114.5mm grav_b=(-0.03,-0.03,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00) r=0.71m +[headless_play] t= 12.50s step= 625 trunk_z= 118.3mm grav_b=(-0.01,+0.01,-1.00) r=0.71m +[headless_play] t= 12.60s step= 630 trunk_z= 123.9mm grav_b=(-0.04,+0.01,-1.00) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 121.8mm grav_b=(-0.08,-0.10,-0.99) r=0.68m +[headless_play] t= 12.80s step= 640 trunk_z= 128.0mm grav_b=(-0.11,-0.12,-0.99) r=0.67m +[headless_play] t= 12.90s step= 645 trunk_z= 120.0mm grav_b=(-0.08,-0.05,-1.00) r=0.64m +[headless_play] t= 13.00s step= 650 trunk_z= 120.6mm grav_b=(-0.04,+0.00,-1.00) r=0.62m +[headless_play] t= 13.10s step= 655 trunk_z= 118.2mm grav_b=(+0.01,-0.01,-1.00) r=0.61m +[headless_play] t= 13.20s step= 660 trunk_z= 118.1mm grav_b=(+0.02,-0.08,-1.00) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 121.8mm grav_b=(-0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 13.40s step= 670 trunk_z= 120.9mm grav_b=(-0.06,+0.11,-0.99) r=0.54m +[headless_play] t= 13.50s step= 675 trunk_z= 123.4mm grav_b=(-0.01,+0.08,-1.00) r=0.51m +[headless_play] t= 13.60s step= 680 trunk_z= 118.4mm grav_b=(+0.02,+0.00,-1.00) r=0.51m +[headless_play] t= 13.70s step= 685 trunk_z= 122.7mm grav_b=(-0.02,-0.10,-0.99) r=0.51m +[headless_play] t= 13.80s step= 690 trunk_z= 121.1mm grav_b=(-0.05,-0.08,-1.00) r=0.49m +[headless_play] t= 13.90s step= 695 trunk_z= 118.5mm grav_b=(-0.07,+0.02,-1.00) r=0.46m +[headless_play] t= 14.00s step= 700 trunk_z= 122.1mm grav_b=(-0.04,+0.05,-1.00) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 120.3mm grav_b=(-0.01,+0.04,-1.00) r=0.44m +[headless_play] t= 14.20s step= 710 trunk_z= 121.2mm grav_b=(-0.04,-0.05,-1.00) r=0.45m +[headless_play] t= 14.30s step= 715 trunk_z= 124.4mm grav_b=(-0.07,-0.08,-0.99) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 119.1mm grav_b=(-0.04,-0.01,-1.00) r=0.42m +[headless_play] t= 14.50s step= 725 trunk_z= 123.8mm grav_b=(-0.03,+0.05,-1.00) r=0.41m +[headless_play] t= 14.60s step= 730 trunk_z= 120.6mm grav_b=(-0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 14.70s step= 735 trunk_z= 123.6mm grav_b=(-0.03,-0.09,-1.00) r=0.41m +[headless_play] t= 14.80s step= 740 trunk_z= 125.3mm grav_b=(-0.07,-0.11,-0.99) r=0.40m +[headless_play] t= 14.90s step= 745 trunk_z= 118.7mm grav_b=(-0.06,-0.02,-1.00) r=0.38m +[headless_play] t= 15.00s step= 750 trunk_z= 121.5mm grav_b=(-0.06,+0.00,-1.00) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 117.6mm grav_b=(-0.05,-0.07,-1.00) r=0.39m +[headless_play] t= 15.20s step= 760 trunk_z= 124.5mm grav_b=(-0.04,-0.12,-0.99) r=0.39m +[headless_play] t= 15.30s step= 765 trunk_z= 121.5mm grav_b=(-0.03,-0.09,-1.00) r=0.38m +[headless_play] t= 15.40s step= 770 trunk_z= 120.7mm grav_b=(-0.02,+0.06,-1.00) r=0.36m +[headless_play] t= 15.50s step= 775 trunk_z= 124.7mm grav_b=(-0.03,+0.06,-1.00) r=0.35m +[headless_play] t= 15.60s step= 780 trunk_z= 120.0mm grav_b=(-0.01,-0.01,-1.00) r=0.36m +[headless_play] t= 15.70s step= 785 trunk_z= 126.4mm grav_b=(-0.03,-0.09,-1.00) r=0.37m +[headless_play] t= 15.80s step= 790 trunk_z= 126.0mm grav_b=(-0.05,-0.11,-0.99) r=0.37m +[headless_play] t= 15.90s step= 795 trunk_z= 119.3mm grav_b=(-0.04,+0.01,-1.00) r=0.36m +[headless_play] t= 16.00s step= 800 trunk_z= 123.9mm grav_b=(-0.03,+0.03,-1.00) r=0.36m +[headless_play] t= 16.10s step= 805 trunk_z= 119.0mm grav_b=(-0.03,-0.03,-1.00) r=0.38m +[headless_play] t= 16.20s step= 810 trunk_z= 125.7mm grav_b=(-0.07,-0.11,-0.99) r=0.39m +[headless_play] t= 16.30s step= 815 trunk_z= 123.1mm grav_b=(-0.05,-0.10,-0.99) r=0.40m +[headless_play] t= 16.40s step= 820 trunk_z= 118.7mm grav_b=(-0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 16.50s step= 825 trunk_z= 123.4mm grav_b=(-0.02,+0.05,-1.00) r=0.40m +[headless_play] t= 16.60s step= 830 trunk_z= 119.7mm grav_b=(+0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 16.70s step= 835 trunk_z= 130.0mm grav_b=(+0.05,-0.14,-0.99) r=0.45m +[headless_play] t= 16.80s step= 840 trunk_z= 136.6mm grav_b=(-0.05,-0.14,-0.99) r=0.49m +[headless_play] t= 16.90s step= 845 trunk_z= 112.1mm grav_b=(-0.08,-0.05,-1.00) r=0.53m +[headless_play] t= 17.00s step= 850 trunk_z= 121.3mm grav_b=(-0.08,-0.02,-1.00) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 120.3mm grav_b=(-0.04,+0.00,-1.00) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 122.0mm grav_b=(-0.03,-0.06,-1.00) r=0.55m +[headless_play] t= 17.30s step= 865 trunk_z= 124.7mm grav_b=(-0.06,-0.03,-1.00) r=0.56m +[headless_play] t= 17.40s step= 870 trunk_z= 119.5mm grav_b=(-0.05,+0.04,-1.00) r=0.59m +[headless_play] t= 17.50s step= 875 trunk_z= 124.9mm grav_b=(-0.03,+0.06,-1.00) r=0.60m +[headless_play] t= 17.60s step= 880 trunk_z= 118.0mm grav_b=(-0.04,-0.06,-1.00) r=0.59m +[headless_play] t= 17.70s step= 885 trunk_z= 126.5mm grav_b=(-0.08,-0.10,-0.99) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 125.3mm grav_b=(-0.06,-0.09,-0.99) r=0.61m +[headless_play] t= 17.90s step= 895 trunk_z= 121.5mm grav_b=(-0.04,+0.04,-1.00) r=0.63m +[headless_play] t= 18.00s step= 900 trunk_z= 127.3mm grav_b=(-0.01,+0.05,-1.00) r=0.65m +[headless_play] t= 18.10s step= 905 trunk_z= 124.1mm grav_b=(-0.03,-0.01,-1.00) r=0.65m +[headless_play] t= 18.20s step= 910 trunk_z= 126.3mm grav_b=(-0.08,-0.07,-0.99) r=0.66m +[headless_play] t= 18.30s step= 915 trunk_z= 126.1mm grav_b=(-0.08,-0.08,-0.99) r=0.67m +[headless_play] t= 18.40s step= 920 trunk_z= 120.0mm grav_b=(-0.05,+0.02,-1.00) r=0.70m +[headless_play] t= 18.50s step= 925 trunk_z= 124.6mm grav_b=(-0.02,+0.01,-1.00) r=0.71m +[headless_play] t= 18.60s step= 930 trunk_z= 118.2mm grav_b=(-0.03,-0.07,-1.00) r=0.70m +[headless_play] t= 18.70s step= 935 trunk_z= 128.1mm grav_b=(-0.06,-0.10,-0.99) r=0.71m +[headless_play] t= 18.80s step= 940 trunk_z= 127.0mm grav_b=(-0.06,-0.08,-0.99) r=0.73m +[headless_play] t= 18.90s step= 945 trunk_z= 122.0mm grav_b=(-0.05,+0.04,-1.00) r=0.75m +[headless_play] t= 19.00s step= 950 trunk_z= 127.0mm grav_b=(-0.01,+0.04,-1.00) r=0.77m +[headless_play] t= 19.10s step= 955 trunk_z= 123.4mm grav_b=(-0.03,-0.02,-1.00) r=0.76m +[headless_play] t= 19.20s step= 960 trunk_z= 125.0mm grav_b=(-0.07,-0.05,-1.00) r=0.76m +[headless_play] t= 19.30s step= 965 trunk_z= 123.5mm grav_b=(-0.05,-0.04,-1.00) r=0.79m +[headless_play] t= 19.40s step= 970 trunk_z= 122.2mm grav_b=(-0.07,+0.08,-0.99) r=0.82m +[headless_play] t= 19.50s step= 975 trunk_z= 126.1mm grav_b=(-0.01,+0.03,-1.00) r=0.83m +[headless_play] t= 19.60s step= 980 trunk_z= 123.2mm grav_b=(-0.04,-0.01,-1.00) r=0.82m +[headless_play] t= 19.70s step= 985 trunk_z= 126.2mm grav_b=(-0.07,-0.07,-1.00) r=0.82m +[headless_play] t= 19.80s step= 990 trunk_z= 127.0mm grav_b=(-0.09,-0.08,-0.99) r=0.83m +[headless_play] t= 19.90s step= 995 trunk_z= 118.4mm grav_b=(-0.05,+0.02,-1.00) r=0.86m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 127.4mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..9be1fc8a5e9e0cac8f0f5e7e88b35411344c0f7f --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.084,-0.175,+0.121) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(+0.00,-0.00,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.04,+0.01,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.05,+0.02,-1.00) r=0.21m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(+0.02,-0.11,-0.99) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 121.2mm grav_b=(-0.00,-0.13,-0.99) r=0.20m +[headless_play] t= 0.60s step= 30 trunk_z= 117.9mm grav_b=(+0.02,-0.07,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 118.9mm grav_b=(+0.01,+0.03,-1.00) r=0.23m +[headless_play] t= 0.80s step= 40 trunk_z= 118.4mm grav_b=(+0.05,-0.01,-1.00) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.02,-0.08,-1.00) r=0.23m +[headless_play] t= 1.00s step= 50 trunk_z= 118.9mm grav_b=(+0.00,-0.02,-1.00) r=0.24m +[headless_play] t= 1.10s step= 55 trunk_z= 118.6mm grav_b=(+0.02,+0.09,-1.00) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 120.0mm grav_b=(+0.05,+0.07,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 117.5mm grav_b=(+0.03,-0.04,-1.00) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 123.7mm grav_b=(+0.01,-0.15,-0.99) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 124.2mm grav_b=(+0.02,-0.14,-0.99) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 119.7mm grav_b=(+0.03,-0.05,-1.00) r=0.29m +[headless_play] t= 1.70s step= 85 trunk_z= 121.2mm grav_b=(-0.00,+0.04,-1.00) r=0.31m +[headless_play] t= 1.80s step= 90 trunk_z= 119.5mm grav_b=(+0.04,+0.03,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 115.6mm grav_b=(+0.03,-0.17,-0.99) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 129.6mm grav_b=(+0.05,-0.29,-0.95) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 130.1mm grav_b=(+0.13,-0.31,-0.94) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 134.9mm grav_b=(+0.07,-0.21,-0.98) r=0.24m +[headless_play] t= 2.30s step= 115 trunk_z= 127.3mm grav_b=(+0.04,-0.14,-0.99) r=0.25m +[headless_play] t= 2.40s step= 120 trunk_z= 131.7mm grav_b=(-0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 2.50s step= 125 trunk_z= 113.1mm grav_b=(-0.03,-0.09,-1.00) r=0.23m +[headless_play] t= 2.60s step= 130 trunk_z= 124.9mm grav_b=(-0.02,-0.11,-0.99) r=0.23m +[headless_play] t= 2.70s step= 135 trunk_z= 125.8mm grav_b=(-0.01,-0.07,-1.00) r=0.26m +[headless_play] t= 2.80s step= 140 trunk_z= 120.7mm grav_b=(+0.05,+0.01,-1.00) r=0.29m +[headless_play] t= 2.90s step= 145 trunk_z= 119.1mm grav_b=(+0.04,-0.08,-1.00) r=0.30m +[headless_play] t= 3.00s step= 150 trunk_z= 124.1mm grav_b=(+0.00,-0.18,-0.98) r=0.32m +[headless_play] t= 3.10s step= 155 trunk_z= 123.3mm grav_b=(+0.02,-0.15,-0.99) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 3.30s step= 165 trunk_z= 121.5mm grav_b=(-0.01,+0.04,-1.00) r=0.38m +[headless_play] t= 3.40s step= 170 trunk_z= 118.8mm grav_b=(+0.04,-0.01,-1.00) r=0.39m +[headless_play] t= 3.50s step= 175 trunk_z= 120.3mm grav_b=(-0.01,-0.11,-0.99) r=0.39m +[headless_play] t= 3.60s step= 180 trunk_z= 121.6mm grav_b=(-0.00,-0.11,-0.99) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 117.8mm grav_b=(-0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 3.80s step= 190 trunk_z= 121.0mm grav_b=(-0.02,+0.02,-1.00) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 118.0mm grav_b=(+0.01,-0.03,-1.00) r=0.41m +[headless_play] t= 4.00s step= 200 trunk_z= 120.9mm grav_b=(+0.02,-0.13,-0.99) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 122.0mm grav_b=(+0.00,-0.12,-0.99) r=0.41m +[headless_play] t= 4.20s step= 210 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 125.3mm grav_b=(-0.01,+0.05,-1.00) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 122.8mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 4.50s step= 225 trunk_z= 125.3mm grav_b=(-0.04,-0.07,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 118.4mm grav_b=(-0.06,+0.03,-1.00) r=0.48m +[headless_play] t= 4.70s step= 235 trunk_z= 126.1mm grav_b=(-0.05,+0.09,-0.99) r=0.50m +[headless_play] t= 4.80s step= 240 trunk_z= 126.3mm grav_b=(-0.01,+0.07,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 126.7mm grav_b=(-0.03,-0.09,-1.00) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 124.2mm grav_b=(-0.03,-0.04,-1.00) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 127.0mm grav_b=(-0.01,+0.10,-1.00) r=0.58m +[headless_play] t= 5.30s step= 265 trunk_z= 132.2mm grav_b=(+0.03,+0.13,-0.99) r=0.60m +[headless_play] t= 5.40s step= 270 trunk_z= 131.5mm grav_b=(-0.01,+0.08,-1.00) r=0.61m +[headless_play] t= 5.50s step= 275 trunk_z= 123.2mm grav_b=(-0.08,-0.03,-1.00) r=0.63m +[headless_play] t= 5.60s step= 280 trunk_z= 125.7mm grav_b=(-0.07,-0.07,-1.00) r=0.65m +[headless_play] t= 5.70s step= 285 trunk_z= 119.5mm grav_b=(-0.03,+0.01,-1.00) r=0.68m +[headless_play] t= 5.80s step= 290 trunk_z= 129.5mm grav_b=(+0.02,+0.08,-1.00) r=0.71m +[headless_play] t= 5.90s step= 295 trunk_z= 130.6mm grav_b=(+0.04,+0.07,-1.00) r=0.72m +[headless_play] t= 6.00s step= 300 trunk_z= 120.7mm grav_b=(-0.03,-0.03,-1.00) r=0.74m +[headless_play] t= 6.10s step= 305 trunk_z= 126.6mm grav_b=(-0.06,-0.07,-1.00) r=0.76m +[headless_play] t= 6.20s step= 310 trunk_z= 122.3mm grav_b=(-0.05,-0.04,-1.00) r=0.78m +[headless_play] t= 6.30s step= 315 trunk_z= 125.0mm grav_b=(-0.03,+0.03,-1.00) r=0.80m +[headless_play] t= 6.40s step= 320 trunk_z= 123.0mm grav_b=(-0.00,+0.02,-1.00) r=0.80m +[headless_play] t= 6.50s step= 325 trunk_z= 122.4mm grav_b=(-0.02,-0.07,-1.00) r=0.80m +[headless_play] t= 6.60s step= 330 trunk_z= 125.7mm grav_b=(-0.03,-0.08,-1.00) r=0.81m +[headless_play] t= 6.70s step= 335 trunk_z= 121.2mm grav_b=(-0.03,-0.03,-1.00) r=0.83m +[headless_play] t= 6.80s step= 340 trunk_z= 125.4mm grav_b=(-0.03,+0.06,-1.00) r=0.85m +[headless_play] t= 6.90s step= 345 trunk_z= 127.3mm grav_b=(-0.01,+0.03,-1.00) r=0.86m +[headless_play] t= 7.00s step= 350 trunk_z= 123.8mm grav_b=(-0.04,-0.09,-1.00) r=0.87m +[headless_play] t= 7.10s step= 355 trunk_z= 124.3mm grav_b=(-0.03,-0.13,-0.99) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 119.4mm grav_b=(+0.01,-0.10,-1.00) r=0.90m +[headless_play] t= 7.30s step= 365 trunk_z= 114.6mm grav_b=(+0.00,+0.02,-1.00) r=0.91m +[headless_play] t= 7.40s step= 370 trunk_z= 114.3mm grav_b=(-0.00,-0.05,-1.00) r=0.92m +[headless_play] t= 7.50s step= 375 trunk_z= 113.1mm grav_b=(+0.01,-0.14,-0.99) r=0.92m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.03,-0.14,-0.99) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 112.9mm grav_b=(+0.05,-0.09,-1.00) r=0.94m +[headless_play] t= 7.80s step= 390 trunk_z= 114.0mm grav_b=(+0.03,+0.04,-1.00) r=0.95m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(-0.00,+0.03,-1.00) r=0.96m +[headless_play] t= 8.00s step= 400 trunk_z= 114.6mm grav_b=(+0.09,-0.02,-1.00) r=0.98m +[headless_play] t= 8.10s step= 405 trunk_z= 120.1mm grav_b=(+0.07,-0.11,-0.99) r=0.99m +[headless_play] t= 8.20s step= 410 trunk_z= 118.3mm grav_b=(+0.05,-0.10,-0.99) r=1.00m +[headless_play] t= 8.30s step= 415 trunk_z= 115.7mm grav_b=(+0.01,+0.03,-1.00) r=1.02m +[headless_play] t= 8.40s step= 420 trunk_z= 118.8mm grav_b=(-0.02,+0.03,-1.00) r=1.04m +[headless_play] t= 8.50s step= 425 trunk_z= 113.6mm grav_b=(+0.05,-0.04,-1.00) r=1.04m +[headless_play] t= 8.60s step= 430 trunk_z= 118.5mm grav_b=(-0.01,-0.08,-1.00) r=1.05m +[headless_play] t= 8.70s step= 435 trunk_z= 113.1mm grav_b=(-0.01,+0.05,-1.00) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 117.3mm grav_b=(-0.03,+0.12,-0.99) r=1.08m +[headless_play] t= 8.90s step= 445 trunk_z= 117.8mm grav_b=(+0.00,+0.12,-0.99) r=1.09m +[headless_play] t= 9.00s step= 450 trunk_z= 115.8mm grav_b=(-0.01,+0.01,-1.00) r=1.08m +[headless_play] t= 9.10s step= 455 trunk_z= 122.3mm grav_b=(-0.03,-0.14,-0.99) r=1.06m +[headless_play] t= 9.20s step= 460 trunk_z= 127.2mm grav_b=(-0.05,-0.16,-0.99) r=1.05m +[headless_play] t= 9.30s step= 465 trunk_z= 128.8mm grav_b=(-0.04,-0.13,-0.99) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 123.3mm grav_b=(+0.02,-0.05,-1.00) r=1.02m +[headless_play] t= 9.50s step= 475 trunk_z= 120.2mm grav_b=(+0.02,+0.01,-1.00) r=1.01m +[headless_play] t= 9.60s step= 480 trunk_z= 117.9mm grav_b=(+0.03,+0.00,-1.00) r=1.01m +[headless_play] t= 9.70s step= 485 trunk_z= 118.7mm grav_b=(-0.01,-0.10,-0.99) r=1.01m +[headless_play] t= 9.80s step= 490 trunk_z= 121.4mm grav_b=(-0.01,-0.09,-1.00) r=1.03m +[headless_play] t= 9.90s step= 495 trunk_z= 118.4mm grav_b=(-0.01,-0.05,-1.00) r=1.04m +[headless_play] t= 10.00s step= 500 trunk_z= 120.0mm grav_b=(-0.03,+0.02,-1.00) r=1.05m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(-0.01,-0.06,-1.00) r=1.07m +[headless_play] t= 10.20s step= 510 trunk_z= 120.8mm grav_b=(+0.02,-0.14,-0.99) r=1.08m +[headless_play] t= 10.30s step= 515 trunk_z= 122.9mm grav_b=(+0.02,-0.11,-0.99) r=1.10m +[headless_play] t= 10.40s step= 520 trunk_z= 117.2mm grav_b=(-0.01,+0.02,-1.00) r=1.12m +[headless_play] t= 10.50s step= 525 trunk_z= 123.2mm grav_b=(-0.01,+0.06,-1.00) r=1.14m +[headless_play] t= 10.60s step= 530 trunk_z= 117.5mm grav_b=(-0.01,-0.03,-1.00) r=1.13m +[headless_play] t= 10.70s step= 535 trunk_z= 122.6mm grav_b=(-0.01,-0.13,-0.99) r=1.13m +[headless_play] t= 10.80s step= 540 trunk_z= 124.4mm grav_b=(-0.02,-0.11,-0.99) r=1.15m +[headless_play] t= 10.90s step= 545 trunk_z= 117.8mm grav_b=(+0.01,-0.05,-1.00) r=1.16m +[headless_play] t= 11.00s step= 550 trunk_z= 121.5mm grav_b=(-0.03,+0.05,-1.00) r=1.18m +[headless_play] t= 11.10s step= 555 trunk_z= 118.9mm grav_b=(+0.05,+0.01,-1.00) r=1.19m +[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(+0.00,-0.14,-0.99) r=1.20m +[headless_play] t= 11.30s step= 565 trunk_z= 125.3mm grav_b=(+0.07,-0.18,-0.98) r=1.22m +[headless_play] t= 11.40s step= 570 trunk_z= 127.4mm grav_b=(+0.05,-0.13,-0.99) r=1.24m +[headless_play] t= 11.50s step= 575 trunk_z= 117.7mm grav_b=(-0.00,-0.04,-1.00) r=1.26m +[headless_play] t= 11.60s step= 580 trunk_z= 132.0mm grav_b=(+0.07,+0.04,-1.00) r=1.29m +[headless_play] t= 11.70s step= 585 trunk_z= 128.2mm grav_b=(-0.02,-0.03,-1.00) r=1.31m +[headless_play] t= 11.80s step= 590 trunk_z= 125.3mm grav_b=(+0.01,-0.11,-0.99) r=1.32m +[headless_play] t= 11.90s step= 595 trunk_z= 127.8mm grav_b=(-0.03,-0.12,-0.99) r=1.33m +[headless_play] t= 12.00s step= 600 trunk_z= 126.3mm grav_b=(-0.04,-0.11,-0.99) r=1.33m +[headless_play] t= 12.10s step= 605 trunk_z= 120.6mm grav_b=(-0.01,-0.08,-1.00) r=1.35m +[headless_play] t= 12.20s step= 610 trunk_z= 119.4mm grav_b=(-0.00,+0.05,-1.00) r=1.36m +[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(+0.03,+0.01,-1.00) r=1.37m +[headless_play] t= 12.40s step= 620 trunk_z= 117.4mm grav_b=(+0.00,-0.10,-1.00) r=1.37m +[headless_play] t= 12.50s step= 625 trunk_z= 125.3mm grav_b=(+0.01,-0.14,-0.99) r=1.37m +[headless_play] t= 12.60s step= 630 trunk_z= 124.1mm grav_b=(+0.02,-0.11,-0.99) r=1.39m +[headless_play] t= 12.70s step= 635 trunk_z= 119.0mm grav_b=(+0.04,+0.00,-1.00) r=1.41m +[headless_play] t= 12.80s step= 640 trunk_z= 124.1mm grav_b=(+0.01,+0.04,-1.00) r=1.42m +[headless_play] t= 12.90s step= 645 trunk_z= 117.1mm grav_b=(+0.02,-0.07,-1.00) r=1.43m +[headless_play] t= 13.00s step= 650 trunk_z= 127.7mm grav_b=(+0.03,-0.19,-0.98) r=1.43m +[headless_play] t= 13.10s step= 655 trunk_z= 129.4mm grav_b=(+0.05,-0.24,-0.97) r=1.43m +[headless_play] t= 13.20s step= 660 trunk_z= 133.1mm grav_b=(+0.06,-0.28,-0.96) r=1.42m +[headless_play] t= 13.30s step= 665 trunk_z= 138.2mm grav_b=(-0.02,-0.17,-0.99) r=1.43m +[headless_play] t= 13.40s step= 670 trunk_z= 136.2mm grav_b=(-0.00,-0.14,-0.99) r=1.45m +[headless_play] t= 13.50s step= 675 trunk_z= 118.4mm grav_b=(+0.02,+0.01,-1.00) r=1.45m +[headless_play] t= 13.60s step= 680 trunk_z= 120.7mm grav_b=(-0.03,-0.10,-0.99) r=1.44m +[headless_play] t= 13.70s step= 685 trunk_z= 127.7mm grav_b=(-0.08,-0.16,-0.98) r=1.43m +[headless_play] t= 13.80s step= 690 trunk_z= 129.6mm grav_b=(-0.07,-0.14,-0.99) r=1.42m +[headless_play] t= 13.90s step= 695 trunk_z= 129.7mm grav_b=(-0.04,-0.11,-0.99) r=1.42m +[headless_play] t= 14.00s step= 700 trunk_z= 120.4mm grav_b=(+0.03,-0.04,-1.00) r=1.41m +[headless_play] t= 14.10s step= 705 trunk_z= 121.5mm grav_b=(+0.03,-0.01,-1.00) r=1.41m +[headless_play] t= 14.20s step= 710 trunk_z= 115.6mm grav_b=(+0.01,-0.03,-1.00) r=1.41m +[headless_play] t= 14.30s step= 715 trunk_z= 118.5mm grav_b=(+0.05,-0.07,-1.00) r=1.42m +[headless_play] t= 14.40s step= 720 trunk_z= 119.5mm grav_b=(+0.06,-0.04,-1.00) r=1.45m +[headless_play] t= 14.50s step= 725 trunk_z= 122.7mm grav_b=(+0.00,+0.04,-1.00) r=1.47m +[headless_play] t= 14.60s step= 730 trunk_z= 124.2mm grav_b=(-0.01,+0.01,-1.00) r=1.48m +[headless_play] t= 14.70s step= 735 trunk_z= 123.0mm grav_b=(+0.01,-0.05,-1.00) r=1.50m +[headless_play] t= 14.80s step= 740 trunk_z= 125.0mm grav_b=(+0.02,-0.06,-1.00) r=1.51m +[headless_play] t= 14.90s step= 745 trunk_z= 121.5mm grav_b=(-0.01,+0.01,-1.00) r=1.53m +[headless_play] t= 15.00s step= 750 trunk_z= 126.8mm grav_b=(-0.01,+0.07,-1.00) r=1.55m +[headless_play] t= 15.10s step= 755 trunk_z= 123.2mm grav_b=(-0.01,+0.06,-1.00) r=1.55m +[headless_play] t= 15.20s step= 760 trunk_z= 121.7mm grav_b=(-0.12,-0.08,-0.99) r=1.54m +[headless_play] t= 15.30s step= 765 trunk_z= 127.4mm grav_b=(-0.07,-0.10,-0.99) r=1.54m +[headless_play] t= 15.40s step= 770 trunk_z= 124.8mm grav_b=(+0.06,+0.00,-1.00) r=1.54m +[headless_play] t= 15.50s step= 775 trunk_z= 124.4mm grav_b=(+0.06,+0.09,-0.99) r=1.52m +[headless_play] t= 15.60s step= 780 trunk_z= 119.6mm grav_b=(-0.02,+0.06,-1.00) r=1.51m +[headless_play] t= 15.70s step= 785 trunk_z= 123.3mm grav_b=(-0.03,-0.08,-1.00) r=1.50m +[headless_play] t= 15.80s step= 790 trunk_z= 128.5mm grav_b=(+0.04,-0.15,-0.99) r=1.51m +[headless_play] t= 15.90s step= 795 trunk_z= 132.6mm grav_b=(+0.07,-0.18,-0.98) r=1.51m +[headless_play] t= 16.00s step= 800 trunk_z= 136.0mm grav_b=(+0.01,-0.09,-1.00) r=1.53m +[headless_play] t= 16.10s step= 805 trunk_z= 128.0mm grav_b=(+0.04,-0.12,-0.99) r=1.57m +[headless_play] t= 16.20s step= 810 trunk_z= 134.5mm grav_b=(-0.02,-0.01,-1.00) r=1.58m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(-0.01,-0.05,-1.00) r=1.59m +[headless_play] t= 16.40s step= 820 trunk_z= 126.5mm grav_b=(+0.02,-0.07,-1.00) r=1.60m +[headless_play] t= 16.50s step= 825 trunk_z= 126.6mm grav_b=(+0.00,-0.07,-1.00) r=1.63m +[headless_play] t= 16.60s step= 830 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=1.67m +[headless_play] t= 16.70s step= 835 trunk_z= 126.6mm grav_b=(-0.02,+0.01,-1.00) r=1.67m +[headless_play] t= 16.80s step= 840 trunk_z= 117.6mm grav_b=(-0.00,+0.00,-1.00) r=1.66m +[headless_play] t= 16.90s step= 845 trunk_z= 125.6mm grav_b=(-0.03,-0.07,-1.00) r=1.66m +[headless_play] t= 17.00s step= 850 trunk_z= 124.2mm grav_b=(-0.02,-0.04,-1.00) r=1.67m +[headless_play] t= 17.10s step= 855 trunk_z= 120.4mm grav_b=(-0.02,+0.03,-1.00) r=1.69m +[headless_play] t= 17.20s step= 860 trunk_z= 122.0mm grav_b=(-0.03,-0.00,-1.00) r=1.69m +[headless_play] t= 17.30s step= 865 trunk_z= 121.0mm grav_b=(-0.03,-0.08,-1.00) r=1.68m +[headless_play] t= 17.40s step= 870 trunk_z= 126.3mm grav_b=(-0.04,-0.10,-0.99) r=1.68m +[headless_play] t= 17.50s step= 875 trunk_z= 120.1mm grav_b=(-0.04,-0.02,-1.00) r=1.71m +[headless_play] t= 17.60s step= 880 trunk_z= 125.4mm grav_b=(-0.03,+0.06,-1.00) r=1.73m +[headless_play] t= 17.70s step= 885 trunk_z= 125.2mm grav_b=(-0.01,+0.05,-1.00) r=1.73m +[headless_play] t= 17.80s step= 890 trunk_z= 122.2mm grav_b=(-0.03,-0.06,-1.00) r=1.71m +[headless_play] t= 17.90s step= 895 trunk_z= 127.5mm grav_b=(-0.04,-0.09,-1.00) r=1.72m +[headless_play] t= 18.00s step= 900 trunk_z= 124.7mm grav_b=(-0.05,-0.05,-1.00) r=1.73m +[headless_play] t= 18.10s step= 905 trunk_z= 124.0mm grav_b=(-0.04,+0.04,-1.00) r=1.75m +[headless_play] t= 18.20s step= 910 trunk_z= 125.3mm grav_b=(-0.01,+0.04,-1.00) r=1.75m +[headless_play] t= 18.30s step= 915 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=1.74m +[headless_play] t= 18.40s step= 920 trunk_z= 129.9mm grav_b=(-0.07,-0.14,-0.99) r=1.72m +[headless_play] t= 18.50s step= 925 trunk_z= 130.4mm grav_b=(-0.05,-0.15,-0.99) r=1.71m +[headless_play] t= 18.60s step= 930 trunk_z= 128.7mm grav_b=(-0.02,-0.11,-0.99) r=1.72m +[headless_play] t= 18.70s step= 935 trunk_z= 120.6mm grav_b=(-0.04,+0.00,-1.00) r=1.74m +[headless_play] t= 18.80s step= 940 trunk_z= 127.9mm grav_b=(+0.01,+0.03,-1.00) r=1.75m +[headless_play] t= 18.90s step= 945 trunk_z= 124.9mm grav_b=(-0.01,+0.02,-1.00) r=1.73m +[headless_play] t= 19.00s step= 950 trunk_z= 125.4mm grav_b=(-0.03,-0.06,-1.00) r=1.72m +[headless_play] t= 19.10s step= 955 trunk_z= 125.9mm grav_b=(-0.04,-0.07,-1.00) r=1.72m +[headless_play] t= 19.20s step= 960 trunk_z= 120.4mm grav_b=(-0.04,+0.02,-1.00) r=1.74m +[headless_play] t= 19.30s step= 965 trunk_z= 125.8mm grav_b=(-0.02,+0.05,-1.00) r=1.75m +[headless_play] t= 19.40s step= 970 trunk_z= 124.9mm grav_b=(-0.03,+0.05,-1.00) r=1.74m +[headless_play] t= 19.50s step= 975 trunk_z= 122.8mm grav_b=(-0.04,-0.04,-1.00) r=1.72m +[headless_play] t= 19.60s step= 980 trunk_z= 125.7mm grav_b=(-0.04,-0.07,-1.00) r=1.72m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(-0.05,-0.01,-1.00) r=1.74m +[headless_play] t= 19.80s step= 990 trunk_z= 125.1mm grav_b=(-0.03,+0.04,-1.00) r=1.74m +[headless_play] t= 19.90s step= 995 trunk_z= 128.6mm grav_b=(+0.02,+0.07,-1.00) r=1.74m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 126.5mm grav_b=(-0.01,+0.00,-1.00) r=0.17m +[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..dd6c1b5490029874fd60f4e12b0e1c657a21f760 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.025,+0.037,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.1mm grav_b=(-0.01,-0.00,-1.00) r=0.04m +[headless_play] t= 0.10s step= 5 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 0.30s step= 15 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.01,+0.00,-1.00) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.07,+0.00,-1.00) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 120.0mm grav_b=(+0.00,+0.01,-1.00) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 118.9mm grav_b=(-0.04,+0.01,-1.00) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 117.0mm grav_b=(-0.07,+0.03,-1.00) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(-0.05,+0.01,-1.00) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(+0.03,+0.00,-1.00) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(-0.08,-0.00,-1.00) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 117.1mm grav_b=(-0.07,-0.00,-1.00) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(-0.04,+0.00,-1.00) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(-0.12,-0.01,-0.99) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 118.4mm grav_b=(-0.16,-0.00,-0.99) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 118.9mm grav_b=(-0.14,-0.03,-0.99) r=0.03m +[headless_play] t= 3.30s step= 165 trunk_z= 118.1mm grav_b=(-0.01,+0.03,-1.00) r=0.01m +[headless_play] t= 3.40s step= 170 trunk_z= 115.5mm grav_b=(+0.03,+0.11,-0.99) r=0.02m +[headless_play] t= 3.50s step= 175 trunk_z= 118.6mm grav_b=(-0.04,+0.03,-1.00) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 121.3mm grav_b=(-0.09,-0.09,-0.99) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 119.0mm grav_b=(-0.11,-0.07,-0.99) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 118.3mm grav_b=(-0.13,+0.00,-0.99) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.08,-0.05,-1.00) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 117.6mm grav_b=(-0.06,-0.00,-1.00) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 118.1mm grav_b=(-0.10,+0.01,-0.99) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 119.1mm grav_b=(-0.16,+0.01,-0.99) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 121.3mm grav_b=(-0.09,+0.08,-0.99) r=0.09m +[headless_play] t= 4.40s step= 220 trunk_z= 112.7mm grav_b=(-0.01,+0.18,-0.98) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 125.1mm grav_b=(-0.04,+0.18,-0.98) r=0.13m +[headless_play] t= 4.60s step= 230 trunk_z= 126.9mm grav_b=(-0.07,+0.12,-0.99) r=0.14m +[headless_play] t= 4.70s step= 235 trunk_z= 122.9mm grav_b=(-0.06,+0.03,-1.00) r=0.14m +[headless_play] t= 4.80s step= 240 trunk_z= 127.3mm grav_b=(-0.07,-0.09,-0.99) r=0.13m +[headless_play] t= 4.90s step= 245 trunk_z= 129.8mm grav_b=(-0.10,-0.15,-0.98) r=0.13m +[headless_play] t= 5.00s step= 250 trunk_z= 127.7mm grav_b=(-0.08,-0.11,-0.99) r=0.12m +[headless_play] t= 5.10s step= 255 trunk_z= 120.5mm grav_b=(-0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 5.20s step= 260 trunk_z= 127.4mm grav_b=(-0.01,+0.01,-1.00) r=0.10m +[headless_play] t= 5.30s step= 265 trunk_z= 123.0mm grav_b=(-0.07,-0.05,-1.00) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 131.3mm grav_b=(-0.01,-0.12,-0.99) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 136.4mm grav_b=(-0.03,-0.14,-0.99) r=0.07m +[headless_play] t= 5.60s step= 280 trunk_z= 127.5mm grav_b=(-0.07,-0.09,-0.99) r=0.08m +[headless_play] t= 5.70s step= 285 trunk_z= 120.3mm grav_b=(-0.03,-0.03,-1.00) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 125.0mm grav_b=(-0.07,-0.02,-1.00) r=0.10m +[headless_play] t= 5.90s step= 295 trunk_z= 118.2mm grav_b=(-0.07,-0.05,-1.00) r=0.11m +[headless_play] t= 6.00s step= 300 trunk_z= 130.2mm grav_b=(-0.03,-0.13,-0.99) r=0.13m +[headless_play] t= 6.10s step= 305 trunk_z= 134.5mm grav_b=(-0.01,-0.16,-0.99) r=0.16m +[headless_play] t= 6.20s step= 310 trunk_z= 128.1mm grav_b=(-0.05,-0.11,-0.99) r=0.20m +[headless_play] t= 6.30s step= 315 trunk_z= 123.0mm grav_b=(-0.02,-0.07,-1.00) r=0.24m +[headless_play] t= 6.40s step= 320 trunk_z= 127.0mm grav_b=(-0.06,-0.05,-1.00) r=0.25m +[headless_play] t= 6.50s step= 325 trunk_z= 118.9mm grav_b=(-0.05,-0.07,-1.00) r=0.25m +[headless_play] t= 6.60s step= 330 trunk_z= 125.3mm grav_b=(-0.09,-0.08,-0.99) r=0.26m +[headless_play] t= 6.70s step= 335 trunk_z= 119.2mm grav_b=(-0.09,+0.03,-1.00) r=0.29m +[headless_play] t= 6.80s step= 340 trunk_z= 125.4mm grav_b=(-0.06,+0.05,-1.00) r=0.30m +[headless_play] t= 6.90s step= 345 trunk_z= 121.2mm grav_b=(-0.05,-0.03,-1.00) r=0.30m +[headless_play] t= 7.00s step= 350 trunk_z= 127.5mm grav_b=(-0.08,-0.17,-0.98) r=0.29m +[headless_play] t= 7.10s step= 355 trunk_z= 131.4mm grav_b=(-0.10,-0.18,-0.98) r=0.29m +[headless_play] t= 7.20s step= 360 trunk_z= 130.4mm grav_b=(-0.09,-0.15,-0.98) r=0.30m +[headless_play] t= 7.30s step= 365 trunk_z= 125.8mm grav_b=(-0.08,-0.06,-1.00) r=0.33m +[headless_play] t= 7.40s step= 370 trunk_z= 126.6mm grav_b=(-0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 7.50s step= 375 trunk_z= 130.0mm grav_b=(+0.04,-0.04,-1.00) r=0.36m +[headless_play] t= 7.60s step= 380 trunk_z= 111.4mm grav_b=(-0.07,-0.08,-0.99) r=0.37m +[headless_play] t= 7.70s step= 385 trunk_z= 127.0mm grav_b=(-0.12,-0.13,-0.98) r=0.38m +[headless_play] t= 7.80s step= 390 trunk_z= 123.1mm grav_b=(-0.12,-0.09,-0.99) r=0.40m +[headless_play] t= 7.90s step= 395 trunk_z= 125.0mm grav_b=(-0.08,+0.01,-1.00) r=0.43m +[headless_play] t= 8.00s step= 400 trunk_z= 121.8mm grav_b=(-0.05,-0.01,-1.00) r=0.43m +[headless_play] t= 8.10s step= 405 trunk_z= 119.8mm grav_b=(-0.06,-0.10,-0.99) r=0.41m +[headless_play] t= 8.20s step= 410 trunk_z= 122.2mm grav_b=(-0.07,-0.09,-0.99) r=0.41m +[headless_play] t= 8.30s step= 415 trunk_z= 116.2mm grav_b=(-0.02,-0.04,-1.00) r=0.44m +[headless_play] t= 8.40s step= 420 trunk_z= 121.1mm grav_b=(+0.01,+0.11,-0.99) r=0.46m +[headless_play] t= 8.50s step= 425 trunk_z= 124.9mm grav_b=(+0.01,+0.11,-0.99) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 124.6mm grav_b=(+0.01,+0.05,-1.00) r=0.47m +[headless_play] t= 8.70s step= 435 trunk_z= 122.5mm grav_b=(-0.04,-0.08,-1.00) r=0.46m +[headless_play] t= 8.80s step= 440 trunk_z= 126.8mm grav_b=(-0.09,-0.10,-0.99) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 120.2mm grav_b=(-0.03,-0.03,-1.00) r=0.46m +[headless_play] t= 9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.01,+0.04,-1.00) r=0.47m +[headless_play] t= 9.10s step= 455 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00) r=0.47m +[headless_play] t= 9.20s step= 460 trunk_z= 120.8mm grav_b=(-0.03,-0.13,-0.99) r=0.45m +[headless_play] t= 9.30s step= 465 trunk_z= 123.6mm grav_b=(-0.06,-0.11,-0.99) r=0.44m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(-0.00,-0.03,-1.00) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 119.6mm grav_b=(-0.03,+0.03,-1.00) r=0.45m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.03,-0.13,-0.99) r=0.43m +[headless_play] t= 9.80s step= 490 trunk_z= 122.4mm grav_b=(-0.05,-0.11,-0.99) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 118.5mm grav_b=(-0.06,-0.05,-1.00) r=0.42m +[headless_play] t= 10.00s step= 500 trunk_z= 121.3mm grav_b=(-0.07,+0.09,-0.99) r=0.43m +[headless_play] t= 10.10s step= 505 trunk_z= 124.2mm grav_b=(-0.05,+0.09,-0.99) r=0.43m +[headless_play] t= 10.20s step= 510 trunk_z= 123.4mm grav_b=(-0.04,+0.06,-1.00) r=0.43m +[headless_play] t= 10.30s step= 515 trunk_z= 119.2mm grav_b=(-0.06,-0.04,-1.00) r=0.42m +[headless_play] t= 10.40s step= 520 trunk_z= 125.6mm grav_b=(-0.08,-0.09,-0.99) r=0.42m +[headless_play] t= 10.50s step= 525 trunk_z= 122.6mm grav_b=(-0.08,-0.04,-1.00) r=0.42m +[headless_play] t= 10.60s step= 530 trunk_z= 123.4mm grav_b=(+0.00,+0.08,-1.00) r=0.41m +[headless_play] t= 10.70s step= 535 trunk_z= 129.9mm grav_b=(-0.01,+0.05,-1.00) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.05,-0.03,-1.00) r=0.37m +[headless_play] t= 10.90s step= 545 trunk_z= 123.1mm grav_b=(-0.06,-0.06,-1.00) r=0.36m +[headless_play] t= 11.00s step= 550 trunk_z= 118.5mm grav_b=(-0.10,-0.06,-0.99) r=0.36m +[headless_play] t= 11.10s step= 555 trunk_z= 118.2mm grav_b=(-0.08,-0.00,-1.00) r=0.37m +[headless_play] t= 11.20s step= 560 trunk_z= 117.8mm grav_b=(-0.09,-0.03,-1.00) r=0.37m +[headless_play] t= 11.30s step= 565 trunk_z= 118.1mm grav_b=(-0.07,-0.03,-1.00) r=0.37m +[headless_play] t= 11.40s step= 570 trunk_z= 121.2mm grav_b=(+0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 121.7mm grav_b=(+0.01,-0.03,-1.00) r=0.33m +[headless_play] t= 11.60s step= 580 trunk_z= 120.3mm grav_b=(-0.00,-0.07,-1.00) r=0.31m +[headless_play] t= 11.70s step= 585 trunk_z= 120.8mm grav_b=(-0.08,-0.10,-0.99) r=0.31m +[headless_play] t= 11.80s step= 590 trunk_z= 115.8mm grav_b=(-0.10,-0.01,-1.00) r=0.32m +[headless_play] t= 11.90s step= 595 trunk_z= 117.6mm grav_b=(-0.11,-0.02,-0.99) r=0.32m +[headless_play] t= 12.00s step= 600 trunk_z= 117.7mm grav_b=(-0.11,-0.03,-0.99) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 117.9mm grav_b=(-0.09,-0.02,-1.00) r=0.32m +[headless_play] t= 12.20s step= 610 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00) r=0.32m +[headless_play] t= 12.30s step= 615 trunk_z= 121.0mm grav_b=(+0.05,-0.02,-1.00) r=0.30m +[headless_play] t= 12.40s step= 620 trunk_z= 126.2mm grav_b=(-0.04,+0.01,-1.00) r=0.29m +[headless_play] t= 12.50s step= 625 trunk_z= 107.1mm grav_b=(-0.11,+0.12,-0.99) r=0.27m +[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(-0.04,+0.04,-1.00) r=0.26m +[headless_play] t= 12.70s step= 635 trunk_z= 117.9mm grav_b=(-0.04,-0.03,-1.00) r=0.25m +[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(-0.08,-0.00,-1.00) r=0.25m +[headless_play] t= 12.90s step= 645 trunk_z= 117.8mm grav_b=(-0.06,-0.00,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00) r=0.24m +[headless_play] t= 13.10s step= 655 trunk_z= 118.7mm grav_b=(-0.05,-0.01,-1.00) r=0.24m +[headless_play] t= 13.20s step= 660 trunk_z= 118.4mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.40s step= 670 trunk_z= 118.2mm grav_b=(-0.07,-0.00,-1.00) r=0.24m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.60s step= 680 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.70s step= 685 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.80s step= 690 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.24m +[headless_play] t= 13.90s step= 695 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.24m +[headless_play] t= 14.00s step= 700 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00) r=0.24m +[headless_play] t= 14.10s step= 705 trunk_z= 120.8mm grav_b=(-0.02,+0.01,-1.00) r=0.24m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(-0.05,+0.02,-1.00) r=0.24m +[headless_play] t= 14.30s step= 715 trunk_z= 118.4mm grav_b=(-0.09,+0.02,-1.00) r=0.25m +[headless_play] t= 14.40s step= 720 trunk_z= 118.3mm grav_b=(-0.10,+0.01,-0.99) r=0.25m +[headless_play] t= 14.50s step= 725 trunk_z= 118.3mm grav_b=(-0.10,+0.01,-1.00) r=0.25m +[headless_play] t= 14.60s step= 730 trunk_z= 118.4mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 14.70s step= 735 trunk_z= 118.4mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 14.80s step= 740 trunk_z= 119.5mm grav_b=(-0.05,+0.02,-1.00) r=0.24m +[headless_play] t= 14.90s step= 745 trunk_z= 119.6mm grav_b=(-0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 15.00s step= 750 trunk_z= 118.8mm grav_b=(-0.08,+0.02,-1.00) r=0.25m +[headless_play] t= 15.10s step= 755 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.20s step= 760 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.30s step= 765 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.40s step= 770 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.50s step= 775 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.60s step= 780 trunk_z= 118.6mm grav_b=(-0.09,+0.01,-1.00) r=0.25m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(-0.05,-0.01,-1.00) r=0.24m +[headless_play] t= 15.80s step= 790 trunk_z= 120.3mm grav_b=(-0.04,-0.00,-1.00) r=0.24m +[headless_play] t= 15.90s step= 795 trunk_z= 119.3mm grav_b=(-0.06,+0.01,-1.00) r=0.24m +[headless_play] t= 16.00s step= 800 trunk_z= 118.3mm grav_b=(-0.09,+0.02,-1.00) r=0.25m +[headless_play] t= 16.10s step= 805 trunk_z= 118.3mm grav_b=(-0.09,+0.02,-1.00) r=0.25m +[headless_play] t= 16.20s step= 810 trunk_z= 118.7mm grav_b=(-0.09,+0.01,-1.00) r=0.24m +[headless_play] t= 16.30s step= 815 trunk_z= 118.6mm grav_b=(-0.09,-0.00,-1.00) r=0.24m +[headless_play] t= 16.40s step= 820 trunk_z= 118.6mm grav_b=(-0.08,+0.00,-1.00) r=0.24m +[headless_play] t= 16.50s step= 825 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 16.60s step= 830 trunk_z= 118.2mm grav_b=(-0.05,+0.01,-1.00) r=0.24m +[headless_play] t= 16.70s step= 835 trunk_z= 117.9mm grav_b=(-0.03,+0.01,-1.00) r=0.23m +[headless_play] t= 16.80s step= 840 trunk_z= 117.8mm grav_b=(+0.00,+0.00,-1.00) r=0.23m +[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(-0.08,+0.01,-1.00) r=0.24m +[headless_play] t= 17.00s step= 850 trunk_z= 118.9mm grav_b=(-0.07,-0.05,-1.00) r=0.25m +[headless_play] t= 17.10s step= 855 trunk_z= 114.8mm grav_b=(-0.02,-0.12,-0.99) r=0.26m +[headless_play] t= 17.20s step= 860 trunk_z= 114.2mm grav_b=(-0.02,-0.09,-1.00) r=0.28m +[headless_play] t= 17.30s step= 865 trunk_z= 114.7mm grav_b=(-0.02,+0.03,-1.00) r=0.29m +[headless_play] t= 17.40s step= 870 trunk_z= 115.0mm grav_b=(-0.03,-0.01,-1.00) r=0.29m +[headless_play] t= 17.50s step= 875 trunk_z= 116.2mm grav_b=(+0.00,-0.03,-1.00) r=0.29m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(+0.01,-0.03,-1.00) r=0.29m +[headless_play] t= 17.70s step= 885 trunk_z= 117.7mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 17.80s step= 890 trunk_z= 118.1mm grav_b=(-0.03,+0.01,-1.00) r=0.29m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.03,-0.05,-1.00) r=0.28m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(-0.06,-0.07,-1.00) r=0.27m +[headless_play] t= 18.10s step= 905 trunk_z= 115.6mm grav_b=(-0.06,+0.01,-1.00) r=0.26m +[headless_play] t= 18.20s step= 910 trunk_z= 120.4mm grav_b=(-0.05,+0.07,-1.00) r=0.25m +[headless_play] t= 18.30s step= 915 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) r=0.24m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(+0.04,-0.07,-1.00) r=0.21m +[headless_play] t= 18.50s step= 925 trunk_z= 121.2mm grav_b=(-0.01,-0.07,-1.00) r=0.20m +[headless_play] t= 18.60s step= 930 trunk_z= 117.4mm grav_b=(-0.04,+0.04,-1.00) r=0.19m +[headless_play] t= 18.70s step= 935 trunk_z= 123.0mm grav_b=(-0.06,+0.04,-1.00) r=0.18m +[headless_play] t= 18.80s step= 940 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 18.90s step= 945 trunk_z= 122.2mm grav_b=(-0.03,-0.09,-1.00) r=0.15m +[headless_play] t= 19.00s step= 950 trunk_z= 119.6mm grav_b=(-0.03,-0.07,-1.00) r=0.15m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.02,+0.07,-1.00) r=0.15m +[headless_play] t= 19.20s step= 960 trunk_z= 122.4mm grav_b=(-0.02,+0.07,-1.00) r=0.15m +[headless_play] t= 19.30s step= 965 trunk_z= 117.3mm grav_b=(-0.03,-0.03,-1.00) r=0.13m +[headless_play] t= 19.40s step= 970 trunk_z= 127.6mm grav_b=(-0.11,-0.19,-0.98) r=0.12m +[headless_play] t= 19.50s step= 975 trunk_z= 132.3mm grav_b=(-0.18,-0.20,-0.96) r=0.10m +[headless_play] t= 19.60s step= 980 trunk_z= 133.4mm grav_b=(-0.07,-0.07,-1.00) r=0.12m +[headless_play] t= 19.70s step= 985 trunk_z= 129.6mm grav_b=(+0.08,+0.08,-0.99) r=0.15m +[headless_play] t= 19.80s step= 990 trunk_z= 125.8mm grav_b=(-0.02,+0.15,-0.99) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 119.0mm grav_b=(-0.07,-0.02,-1.00) r=0.20m +[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=0.23m +[headless_play] t= 20.10s step=1005 trunk_z= 117.8mm grav_b=(-0.04,+0.01,-1.00) r=0.23m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..6defff69263291c547a68fbde29f8d00f9a9e5e9 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.460,+0.385,+0.120) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 116.8mm grav_b=(+0.03,+0.03,-1.00) r=0.61m +[headless_play] t= 0.20s step= 10 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.61m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.04,+0.02,-1.00) r=0.62m +[headless_play] t= 0.40s step= 20 trunk_z= 117.8mm grav_b=(+0.01,+0.09,-1.00) r=0.62m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(+0.01,+0.05,-1.00) r=0.64m +[headless_play] t= 0.60s step= 30 trunk_z= 113.4mm grav_b=(+0.04,-0.03,-1.00) r=0.66m +[headless_play] t= 0.70s step= 35 trunk_z= 120.6mm grav_b=(+0.03,-0.06,-1.00) r=0.67m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.00,+0.05,-1.00) r=0.68m +[headless_play] t= 0.90s step= 45 trunk_z= 124.6mm grav_b=(-0.05,+0.12,-0.99) r=0.68m +[headless_play] t= 1.00s step= 50 trunk_z= 124.7mm grav_b=(-0.08,+0.07,-0.99) r=0.68m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(+0.01,-0.02,-1.00) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(+0.05,-0.08,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 113.0mm grav_b=(+0.06,-0.01,-1.00) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 121.3mm grav_b=(+0.04,+0.10,-0.99) r=0.69m +[headless_play] t= 1.50s step= 75 trunk_z= 122.7mm grav_b=(+0.01,+0.08,-1.00) r=0.70m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.72m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(-0.03,-0.03,-1.00) r=0.73m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(-0.02,+0.07,-1.00) r=0.74m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(-0.00,+0.04,-1.00) r=0.75m +[headless_play] t= 2.00s step= 100 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.76m +[headless_play] t= 2.10s step= 105 trunk_z= 120.3mm grav_b=(+0.05,-0.07,-1.00) r=0.78m +[headless_play] t= 2.20s step= 110 trunk_z= 117.4mm grav_b=(+0.01,+0.02,-1.00) r=0.78m +[headless_play] t= 2.30s step= 115 trunk_z= 124.0mm grav_b=(-0.03,+0.13,-0.99) r=0.79m +[headless_play] t= 2.40s step= 120 trunk_z= 124.5mm grav_b=(-0.08,+0.08,-0.99) r=0.79m +[headless_play] t= 2.50s step= 125 trunk_z= 120.6mm grav_b=(-0.02,+0.02,-1.00) r=0.80m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.04,-0.07,-1.00) r=0.81m +[headless_play] t= 2.70s step= 135 trunk_z= 114.8mm grav_b=(+0.07,-0.04,-1.00) r=0.81m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(+0.04,+0.11,-0.99) r=0.81m +[headless_play] t= 2.90s step= 145 trunk_z= 125.3mm grav_b=(+0.04,+0.13,-0.99) r=0.81m +[headless_play] t= 3.00s step= 150 trunk_z= 125.1mm grav_b=(+0.04,+0.08,-1.00) r=0.82m +[headless_play] t= 3.10s step= 155 trunk_z= 123.2mm grav_b=(-0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 3.20s step= 160 trunk_z= 125.0mm grav_b=(-0.05,-0.01,-1.00) r=0.83m +[headless_play] t= 3.30s step= 165 trunk_z= 123.2mm grav_b=(-0.05,+0.09,-0.99) r=0.82m +[headless_play] t= 3.40s step= 170 trunk_z= 124.7mm grav_b=(-0.02,+0.10,-0.99) r=0.82m +[headless_play] t= 3.50s step= 175 trunk_z= 120.6mm grav_b=(+0.03,+0.07,-1.00) r=0.83m +[headless_play] t= 3.60s step= 180 trunk_z= 118.8mm grav_b=(-0.06,-0.03,-1.00) r=0.84m +[headless_play] t= 3.70s step= 185 trunk_z= 122.6mm grav_b=(-0.04,+0.02,-1.00) r=0.83m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.05,+0.11,-0.99) r=0.82m +[headless_play] t= 3.90s step= 195 trunk_z= 120.2mm grav_b=(+0.00,+0.14,-0.99) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 119.1mm grav_b=(+0.05,+0.09,-0.99) r=0.82m +[headless_play] t= 4.10s step= 205 trunk_z= 119.7mm grav_b=(+0.02,-0.05,-1.00) r=0.84m +[headless_play] t= 4.20s step= 210 trunk_z= 125.4mm grav_b=(-0.00,-0.03,-1.00) r=0.85m +[headless_play] t= 4.30s step= 215 trunk_z= 119.7mm grav_b=(-0.02,+0.06,-1.00) r=0.85m +[headless_play] t= 4.40s step= 220 trunk_z= 130.5mm grav_b=(-0.08,+0.22,-0.97) r=0.83m +[headless_play] t= 4.50s step= 225 trunk_z= 137.3mm grav_b=(-0.11,+0.25,-0.96) r=0.81m +[headless_play] t= 4.60s step= 230 trunk_z= 137.9mm grav_b=(-0.11,+0.27,-0.96) r=0.79m +[headless_play] t= 4.70s step= 235 trunk_z= 121.4mm grav_b=(-0.04,+0.22,-0.98) r=0.74m +[headless_play] t= 4.80s step= 240 trunk_z= 107.4mm grav_b=(+0.03,+0.08,-1.00) r=0.71m +[headless_play] t= 4.90s step= 245 trunk_z= 100.0mm grav_b=(-0.05,+0.16,-0.99) r=0.69m +[headless_play] t= 5.00s step= 250 trunk_z= 118.4mm grav_b=(-0.03,+0.15,-0.99) r=0.68m +[headless_play] t= 5.10s step= 255 trunk_z= 118.8mm grav_b=(+0.02,+0.05,-1.00) r=0.66m +[headless_play] t= 5.20s step= 260 trunk_z= 124.7mm grav_b=(+0.04,-0.03,-1.00) r=0.66m +[headless_play] t= 5.30s step= 265 trunk_z= 128.9mm grav_b=(+0.01,-0.06,-1.00) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(-0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 127.0mm grav_b=(-0.04,+0.09,-1.00) r=0.71m +[headless_play] t= 5.60s step= 280 trunk_z= 125.0mm grav_b=(-0.02,+0.08,-1.00) r=0.71m +[headless_play] t= 5.70s step= 285 trunk_z= 122.5mm grav_b=(-0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 5.80s step= 290 trunk_z= 120.5mm grav_b=(+0.00,+0.01,-1.00) r=0.71m +[headless_play] t= 5.90s step= 295 trunk_z= 122.1mm grav_b=(-0.00,+0.13,-0.99) r=0.74m +[headless_play] t= 6.00s step= 300 trunk_z= 126.1mm grav_b=(+0.01,+0.13,-0.99) r=0.75m +[headless_play] t= 6.10s step= 305 trunk_z= 122.2mm grav_b=(+0.02,+0.07,-1.00) r=0.75m +[headless_play] t= 6.20s step= 310 trunk_z= 123.3mm grav_b=(+0.02,-0.04,-1.00) r=0.75m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(-0.02,+0.10,-1.00) r=0.78m +[headless_play] t= 6.40s step= 320 trunk_z= 128.2mm grav_b=(+0.01,+0.17,-0.99) r=0.81m +[headless_play] t= 6.50s step= 325 trunk_z= 128.8mm grav_b=(+0.03,+0.17,-0.98) r=0.82m +[headless_play] t= 6.60s step= 330 trunk_z= 126.6mm grav_b=(+0.03,+0.11,-0.99) r=0.83m +[headless_play] t= 6.70s step= 335 trunk_z= 124.2mm grav_b=(-0.00,+0.00,-1.00) r=0.83m +[headless_play] t= 6.80s step= 340 trunk_z= 124.0mm grav_b=(-0.03,-0.03,-1.00) r=0.84m +[headless_play] t= 6.90s step= 345 trunk_z= 120.6mm grav_b=(-0.04,+0.08,-1.00) r=0.87m +[headless_play] t= 7.00s step= 350 trunk_z= 125.8mm grav_b=(-0.02,+0.11,-0.99) r=0.89m +[headless_play] t= 7.10s step= 355 trunk_z= 123.2mm grav_b=(+0.07,+0.11,-0.99) r=0.90m +[headless_play] t= 7.20s step= 360 trunk_z= 120.8mm grav_b=(+0.02,-0.04,-1.00) r=0.91m +[headless_play] t= 7.30s step= 365 trunk_z= 125.1mm grav_b=(-0.00,-0.03,-1.00) r=0.92m +[headless_play] t= 7.40s step= 370 trunk_z= 120.5mm grav_b=(-0.04,+0.08,-1.00) r=0.95m +[headless_play] t= 7.50s step= 375 trunk_z= 127.6mm grav_b=(-0.03,+0.13,-0.99) r=0.97m +[headless_play] t= 7.60s step= 380 trunk_z= 120.5mm grav_b=(+0.02,+0.05,-1.00) r=0.97m +[headless_play] t= 7.70s step= 385 trunk_z= 124.7mm grav_b=(+0.03,-0.05,-1.00) r=0.98m +[headless_play] t= 7.80s step= 390 trunk_z= 127.2mm grav_b=(+0.07,-0.03,-1.00) r=1.00m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(+0.01,+0.07,-1.00) r=1.03m +[headless_play] t= 8.00s step= 400 trunk_z= 129.3mm grav_b=(+0.01,+0.10,-0.99) r=1.05m +[headless_play] t= 8.10s step= 405 trunk_z= 125.4mm grav_b=(-0.01,+0.09,-1.00) r=1.06m +[headless_play] t= 8.20s step= 410 trunk_z= 122.8mm grav_b=(-0.03,+0.03,-1.00) r=1.06m +[headless_play] t= 8.30s step= 415 trunk_z= 126.9mm grav_b=(-0.05,-0.04,-1.00) r=1.06m +[headless_play] t= 8.40s step= 420 trunk_z= 123.0mm grav_b=(-0.03,-0.02,-1.00) r=1.07m +[headless_play] t= 8.50s step= 425 trunk_z= 123.3mm grav_b=(+0.01,+0.10,-1.00) r=1.09m +[headless_play] t= 8.60s step= 430 trunk_z= 126.4mm grav_b=(+0.05,+0.09,-0.99) r=1.10m +[headless_play] t= 8.70s step= 435 trunk_z= 118.6mm grav_b=(+0.01,-0.01,-1.00) r=1.12m +[headless_play] t= 8.80s step= 440 trunk_z= 126.7mm grav_b=(+0.00,-0.03,-1.00) r=1.13m +[headless_play] t= 8.90s step= 445 trunk_z= 122.2mm grav_b=(-0.03,+0.03,-1.00) r=1.16m +[headless_play] t= 9.00s step= 450 trunk_z= 127.2mm grav_b=(-0.04,+0.11,-0.99) r=1.18m +[headless_play] t= 9.10s step= 455 trunk_z= 127.9mm grav_b=(-0.02,+0.12,-0.99) r=1.19m +[headless_play] t= 9.20s step= 460 trunk_z= 128.2mm grav_b=(+0.03,+0.12,-0.99) r=1.21m +[headless_play] t= 9.30s step= 465 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=1.22m +[headless_play] t= 9.40s step= 470 trunk_z= 125.3mm grav_b=(-0.01,+0.00,-1.00) r=1.24m +[headless_play] t= 9.50s step= 475 trunk_z= 119.4mm grav_b=(-0.03,+0.06,-1.00) r=1.27m +[headless_play] t= 9.60s step= 480 trunk_z= 127.5mm grav_b=(-0.02,+0.11,-0.99) r=1.28m +[headless_play] t= 9.70s step= 485 trunk_z= 125.7mm grav_b=(+0.00,+0.09,-1.00) r=1.29m +[headless_play] t= 9.80s step= 490 trunk_z= 122.8mm grav_b=(-0.06,-0.07,-1.00) r=1.26m +[headless_play] t= 9.90s step= 495 trunk_z= 130.0mm grav_b=(-0.06,-0.14,-0.99) r=1.24m +[headless_play] t= 10.00s step= 500 trunk_z= 131.3mm grav_b=(-0.02,-0.18,-0.98) r=1.24m +[headless_play] t= 10.10s step= 505 trunk_z= 131.4mm grav_b=(+0.02,-0.16,-0.99) r=1.24m +[headless_play] t= 10.20s step= 510 trunk_z= 129.4mm grav_b=(-0.02,-0.09,-1.00) r=1.25m +[headless_play] t= 10.30s step= 515 trunk_z= 122.5mm grav_b=(-0.04,+0.03,-1.00) r=1.28m +[headless_play] t= 10.40s step= 520 trunk_z= 127.5mm grav_b=(-0.02,+0.08,-1.00) r=1.29m +[headless_play] t= 10.50s step= 525 trunk_z= 120.5mm grav_b=(-0.06,+0.04,-1.00) r=1.27m +[headless_play] t= 10.60s step= 530 trunk_z= 123.7mm grav_b=(-0.02,-0.02,-1.00) r=1.25m +[headless_play] t= 10.70s step= 535 trunk_z= 123.2mm grav_b=(+0.03,-0.00,-1.00) r=1.25m +[headless_play] t= 10.80s step= 540 trunk_z= 121.9mm grav_b=(+0.02,+0.10,-0.99) r=1.26m +[headless_play] t= 10.90s step= 545 trunk_z= 129.7mm grav_b=(+0.02,+0.12,-0.99) r=1.27m +[headless_play] t= 11.00s step= 550 trunk_z= 127.0mm grav_b=(-0.00,+0.09,-1.00) r=1.26m +[headless_play] t= 11.10s step= 555 trunk_z= 121.7mm grav_b=(-0.04,+0.03,-1.00) r=1.25m +[headless_play] t= 11.20s step= 560 trunk_z= 122.2mm grav_b=(-0.03,+0.04,-1.00) r=1.25m +[headless_play] t= 11.30s step= 565 trunk_z= 124.7mm grav_b=(-0.03,+0.09,-1.00) r=1.27m +[headless_play] t= 11.40s step= 570 trunk_z= 126.1mm grav_b=(-0.01,+0.10,-1.00) r=1.26m +[headless_play] t= 11.50s step= 575 trunk_z= 117.7mm grav_b=(-0.00,+0.00,-1.00) r=1.24m +[headless_play] t= 11.60s step= 580 trunk_z= 125.6mm grav_b=(+0.01,-0.03,-1.00) r=1.23m +[headless_play] t= 11.70s step= 585 trunk_z= 123.1mm grav_b=(+0.00,+0.01,-1.00) r=1.24m +[headless_play] t= 11.80s step= 590 trunk_z= 126.1mm grav_b=(-0.02,+0.11,-0.99) r=1.25m +[headless_play] t= 11.90s step= 595 trunk_z= 126.4mm grav_b=(+0.00,+0.11,-0.99) r=1.25m +[headless_play] t= 12.00s step= 600 trunk_z= 119.0mm grav_b=(+0.03,+0.03,-1.00) r=1.23m +[headless_play] t= 12.10s step= 605 trunk_z= 127.2mm grav_b=(+0.09,+0.04,-1.00) r=1.22m +[headless_play] t= 12.20s step= 610 trunk_z= 115.6mm grav_b=(+0.04,+0.09,-1.00) r=1.22m +[headless_play] t= 12.30s step= 615 trunk_z= 129.0mm grav_b=(+0.01,+0.11,-0.99) r=1.22m +[headless_play] t= 12.40s step= 620 trunk_z= 127.5mm grav_b=(-0.00,+0.09,-1.00) r=1.21m +[headless_play] t= 12.50s step= 625 trunk_z= 121.0mm grav_b=(-0.03,+0.02,-1.00) r=1.19m +[headless_play] t= 12.60s step= 630 trunk_z= 122.4mm grav_b=(-0.01,+0.03,-1.00) r=1.20m +[headless_play] t= 12.70s step= 635 trunk_z= 120.2mm grav_b=(+0.00,+0.11,-0.99) r=1.22m +[headless_play] t= 12.80s step= 640 trunk_z= 124.8mm grav_b=(+0.04,+0.09,-1.00) r=1.23m +[headless_play] t= 12.90s step= 645 trunk_z= 118.9mm grav_b=(+0.03,+0.02,-1.00) r=1.21m +[headless_play] t= 13.00s step= 650 trunk_z= 122.8mm grav_b=(-0.01,-0.03,-1.00) r=1.21m +[headless_play] t= 13.10s step= 655 trunk_z= 118.1mm grav_b=(-0.03,+0.07,-1.00) r=1.23m +[headless_play] t= 13.20s step= 660 trunk_z= 125.9mm grav_b=(-0.00,+0.13,-0.99) r=1.24m +[headless_play] t= 13.30s step= 665 trunk_z= 124.4mm grav_b=(+0.04,+0.11,-0.99) r=1.24m +[headless_play] t= 13.40s step= 670 trunk_z= 117.6mm grav_b=(+0.01,-0.03,-1.00) r=1.23m +[headless_play] t= 13.50s step= 675 trunk_z= 125.2mm grav_b=(+0.01,-0.04,-1.00) r=1.22m +[headless_play] t= 13.60s step= 680 trunk_z= 121.1mm grav_b=(+0.01,+0.01,-1.00) r=1.24m +[headless_play] t= 13.70s step= 685 trunk_z= 125.5mm grav_b=(-0.02,+0.13,-0.99) r=1.27m +[headless_play] t= 13.80s step= 690 trunk_z= 125.9mm grav_b=(+0.03,+0.11,-0.99) r=1.27m +[headless_play] t= 13.90s step= 695 trunk_z= 120.4mm grav_b=(+0.03,+0.04,-1.00) r=1.26m +[headless_play] t= 14.00s step= 700 trunk_z= 123.7mm grav_b=(+0.01,-0.04,-1.00) r=1.25m +[headless_play] t= 14.10s step= 705 trunk_z= 120.8mm grav_b=(+0.02,+0.02,-1.00) r=1.27m +[headless_play] t= 14.20s step= 710 trunk_z= 124.2mm grav_b=(-0.02,+0.12,-0.99) r=1.29m +[headless_play] t= 14.30s step= 715 trunk_z= 124.9mm grav_b=(+0.01,+0.10,-0.99) r=1.30m +[headless_play] t= 14.40s step= 720 trunk_z= 119.2mm grav_b=(+0.03,+0.01,-1.00) r=1.28m +[headless_play] t= 14.50s step= 725 trunk_z= 125.3mm grav_b=(+0.01,-0.06,-1.00) r=1.27m +[headless_play] t= 14.60s step= 730 trunk_z= 128.9mm grav_b=(+0.05,-0.18,-0.98) r=1.25m +[headless_play] t= 14.70s step= 735 trunk_z= 129.0mm grav_b=(+0.09,-0.02,-1.00) r=1.24m +[headless_play] t= 14.80s step= 740 trunk_z= 112.5mm grav_b=(-0.02,+0.07,-1.00) r=1.24m +[headless_play] t= 14.90s step= 745 trunk_z= 128.6mm grav_b=(-0.01,+0.07,-1.00) r=1.24m +[headless_play] t= 15.00s step= 750 trunk_z= 128.9mm grav_b=(-0.03,+0.03,-1.00) r=1.22m +[headless_play] t= 15.10s step= 755 trunk_z= 126.2mm grav_b=(-0.02,-0.10,-0.99) r=1.20m +[headless_play] t= 15.20s step= 760 trunk_z= 126.2mm grav_b=(-0.03,-0.07,-1.00) r=1.19m +[headless_play] t= 15.30s step= 765 trunk_z= 118.8mm grav_b=(-0.04,+0.02,-1.00) r=1.20m +[headless_play] t= 15.40s step= 770 trunk_z= 124.0mm grav_b=(-0.03,+0.07,-1.00) r=1.20m +[headless_play] t= 15.50s step= 775 trunk_z= 121.4mm grav_b=(+0.02,+0.06,-1.00) r=1.20m +[headless_play] t= 15.60s step= 780 trunk_z= 117.4mm grav_b=(+0.01,-0.05,-1.00) r=1.18m +[headless_play] t= 15.70s step= 785 trunk_z= 122.9mm grav_b=(+0.00,-0.03,-1.00) r=1.17m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.01,+0.07,-1.00) r=1.18m +[headless_play] t= 15.90s step= 795 trunk_z= 121.0mm grav_b=(+0.12,+0.03,-0.99) r=1.17m +[headless_play] t= 16.00s step= 800 trunk_z= 114.3mm grav_b=(-0.01,-0.11,-0.99) r=1.15m +[headless_play] t= 16.10s step= 805 trunk_z= 126.7mm grav_b=(+0.00,-0.09,-1.00) r=1.14m +[headless_play] t= 16.20s step= 810 trunk_z= 120.6mm grav_b=(-0.03,+0.01,-1.00) r=1.15m +[headless_play] t= 16.30s step= 815 trunk_z= 125.6mm grav_b=(-0.05,+0.09,-0.99) r=1.16m +[headless_play] t= 16.40s step= 820 trunk_z= 121.7mm grav_b=(+0.09,+0.07,-0.99) r=1.14m +[headless_play] t= 16.50s step= 825 trunk_z= 118.5mm grav_b=(+0.01,-0.08,-1.00) r=1.12m +[headless_play] t= 16.60s step= 830 trunk_z= 126.2mm grav_b=(+0.03,-0.04,-1.00) r=1.11m +[headless_play] t= 16.70s step= 835 trunk_z= 119.7mm grav_b=(-0.02,+0.08,-1.00) r=1.11m +[headless_play] t= 16.80s step= 840 trunk_z= 127.5mm grav_b=(-0.02,+0.11,-0.99) r=1.11m +[headless_play] t= 16.90s step= 845 trunk_z= 124.8mm grav_b=(+0.01,+0.11,-0.99) r=1.10m +[headless_play] t= 17.00s step= 850 trunk_z= 118.6mm grav_b=(+0.01,-0.03,-1.00) r=1.08m +[headless_play] t= 17.10s step= 855 trunk_z= 127.8mm grav_b=(-0.02,-0.10,-1.00) r=1.06m +[headless_play] t= 17.20s step= 860 trunk_z= 125.4mm grav_b=(-0.01,-0.06,-1.00) r=1.05m +[headless_play] t= 17.30s step= 865 trunk_z= 120.0mm grav_b=(+0.02,+0.06,-1.00) r=1.06m +[headless_play] t= 17.40s step= 870 trunk_z= 123.2mm grav_b=(+0.02,+0.10,-0.99) r=1.07m +[headless_play] t= 17.50s step= 875 trunk_z= 120.5mm grav_b=(+0.06,+0.07,-1.00) r=1.06m +[headless_play] t= 17.60s step= 880 trunk_z= 119.8mm grav_b=(+0.04,-0.03,-1.00) r=1.04m +[headless_play] t= 17.70s step= 885 trunk_z= 121.6mm grav_b=(-0.01,+0.02,-1.00) r=1.04m +[headless_play] t= 17.80s step= 890 trunk_z= 124.6mm grav_b=(-0.03,+0.13,-0.99) r=1.04m +[headless_play] t= 17.90s step= 895 trunk_z= 125.8mm grav_b=(-0.03,+0.12,-0.99) r=1.03m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(+0.02,+0.04,-1.00) r=1.02m +[headless_play] t= 18.10s step= 905 trunk_z= 123.5mm grav_b=(-0.00,-0.04,-1.00) r=1.00m +[headless_play] t= 18.20s step= 910 trunk_z= 120.0mm grav_b=(-0.00,+0.01,-1.00) r=1.00m +[headless_play] t= 18.30s step= 915 trunk_z= 123.9mm grav_b=(-0.01,+0.12,-0.99) r=1.01m +[headless_play] t= 18.40s step= 920 trunk_z= 123.7mm grav_b=(+0.02,+0.09,-1.00) r=1.00m +[headless_play] t= 18.50s step= 925 trunk_z= 120.0mm grav_b=(+0.03,-0.05,-1.00) r=0.97m +[headless_play] t= 18.60s step= 930 trunk_z= 131.0mm grav_b=(+0.02,-0.07,-1.00) r=0.96m +[headless_play] t= 18.70s step= 935 trunk_z= 125.9mm grav_b=(-0.03,-0.01,-1.00) r=0.96m +[headless_play] t= 18.80s step= 940 trunk_z= 123.5mm grav_b=(-0.02,+0.08,-1.00) r=0.97m +[headless_play] t= 18.90s step= 945 trunk_z= 127.7mm grav_b=(-0.06,+0.12,-0.99) r=0.97m +[headless_play] t= 19.00s step= 950 trunk_z= 123.1mm grav_b=(-0.06,+0.08,-0.99) r=0.95m +[headless_play] t= 19.10s step= 955 trunk_z= 125.3mm grav_b=(-0.10,-0.01,-0.99) r=0.94m +[headless_play] t= 19.20s step= 960 trunk_z= 121.6mm grav_b=(-0.12,+0.03,-0.99) r=0.95m +[headless_play] t= 19.30s step= 965 trunk_z= 123.6mm grav_b=(-0.06,+0.11,-0.99) r=0.97m +[headless_play] t= 19.40s step= 970 trunk_z= 125.2mm grav_b=(-0.02,+0.10,-0.99) r=0.97m +[headless_play] t= 19.50s step= 975 trunk_z= 120.0mm grav_b=(-0.02,-0.02,-1.00) r=0.95m +[headless_play] t= 19.60s step= 980 trunk_z= 126.4mm grav_b=(-0.03,-0.03,-1.00) r=0.94m +[headless_play] t= 19.70s step= 985 trunk_z= 120.5mm grav_b=(-0.03,+0.04,-1.00) r=0.95m +[headless_play] t= 19.80s step= 990 trunk_z= 128.2mm grav_b=(-0.03,+0.13,-0.99) r=0.96m +[headless_play] t= 19.90s step= 995 trunk_z= 130.5mm grav_b=(-0.03,+0.15,-0.99) r=0.96m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.7mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.00,+0.00,-1.00) r=0.44m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..2286bd228676da2fe474be6fc6c540b956f824a2 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.2mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.093,-0.037,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 122.6mm grav_b=(-0.01,+0.00,-1.00) r=0.10m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,-0.03,-1.00) r=0.09m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.02,-0.07,-1.00) r=0.08m +[headless_play] t= 0.30s step= 15 trunk_z= 114.2mm grav_b=(+0.02,+0.05,-1.00) r=0.09m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(+0.04,+0.08,-1.00) r=0.09m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(+0.06,-0.03,-1.00) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(+0.04,-0.12,-0.99) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 119.4mm grav_b=(+0.04,-0.08,-1.00) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(-0.02,+0.06,-1.00) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 120.9mm grav_b=(-0.00,+0.02,-1.00) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 115.8mm grav_b=(+0.02,-0.07,-1.00) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 120.4mm grav_b=(+0.05,-0.09,-0.99) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 117.8mm grav_b=(+0.05,-0.02,-1.00) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 120.5mm grav_b=(+0.00,+0.09,-1.00) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 120.5mm grav_b=(+0.05,+0.04,-1.00) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 115.9mm grav_b=(+0.06,-0.06,-1.00) r=0.11m +[headless_play] t= 1.60s step= 80 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.14m +[headless_play] t= 1.70s step= 85 trunk_z= 120.1mm grav_b=(-0.02,+0.10,-0.99) r=0.16m +[headless_play] t= 1.80s step= 90 trunk_z= 119.5mm grav_b=(+0.02,+0.05,-1.00) r=0.17m +[headless_play] t= 1.90s step= 95 trunk_z= 116.4mm grav_b=(+0.04,-0.09,-1.00) r=0.16m +[headless_play] t= 2.00s step= 100 trunk_z= 122.7mm grav_b=(+0.02,-0.08,-1.00) r=0.18m +[headless_play] t= 2.10s step= 105 trunk_z= 115.0mm grav_b=(+0.01,+0.04,-1.00) r=0.20m +[headless_play] t= 2.20s step= 110 trunk_z= 124.2mm grav_b=(+0.01,+0.14,-0.99) r=0.23m +[headless_play] t= 2.30s step= 115 trunk_z= 124.8mm grav_b=(+0.05,+0.14,-0.99) r=0.24m +[headless_play] t= 2.40s step= 120 trunk_z= 123.5mm grav_b=(+0.07,+0.06,-1.00) r=0.24m +[headless_play] t= 2.50s step= 125 trunk_z= 122.7mm grav_b=(+0.04,-0.06,-1.00) r=0.24m +[headless_play] t= 2.60s step= 130 trunk_z= 122.7mm grav_b=(+0.00,-0.07,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 115.6mm grav_b=(+0.00,+0.03,-1.00) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 2.90s step= 145 trunk_z= 119.7mm grav_b=(+0.03,-0.17,-0.99) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 128.0mm grav_b=(+0.03,-0.18,-0.98) r=0.26m +[headless_play] t= 3.10s step= 155 trunk_z= 128.4mm grav_b=(+0.02,-0.12,-0.99) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 120.3mm grav_b=(+0.02,+0.00,-1.00) r=0.30m +[headless_play] t= 3.30s step= 165 trunk_z= 126.3mm grav_b=(+0.05,-0.00,-1.00) r=0.31m +[headless_play] t= 3.40s step= 170 trunk_z= 121.6mm grav_b=(+0.00,-0.08,-1.00) r=0.31m +[headless_play] t= 3.50s step= 175 trunk_z= 129.8mm grav_b=(-0.03,-0.14,-0.99) r=0.30m +[headless_play] t= 3.60s step= 180 trunk_z= 129.3mm grav_b=(-0.01,-0.16,-0.99) r=0.31m +[headless_play] t= 3.70s step= 185 trunk_z= 122.5mm grav_b=(+0.03,-0.10,-0.99) r=0.32m +[headless_play] t= 3.80s step= 190 trunk_z= 120.8mm grav_b=(+0.04,-0.03,-1.00) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 119.4mm grav_b=(+0.02,-0.05,-1.00) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 118.4mm grav_b=(-0.01,-0.04,-1.00) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 118.2mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 118.2mm grav_b=(+0.00,-0.02,-1.00) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(+0.00,-0.02,-1.00) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(-0.00,-0.02,-1.00) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 118.2mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 118.3mm grav_b=(+0.02,-0.01,-1.00) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 5.80s step= 290 trunk_z= 118.0mm grav_b=(+0.00,-0.01,-1.00) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 119.0mm grav_b=(-0.11,-0.03,-0.99) r=0.32m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.04,-0.12,-0.99) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 116.0mm grav_b=(+0.07,-0.09,-0.99) r=0.30m +[headless_play] t= 6.20s step= 310 trunk_z= 114.9mm grav_b=(+0.04,+0.00,-1.00) r=0.30m +[headless_play] t= 6.30s step= 315 trunk_z= 115.8mm grav_b=(+0.03,-0.04,-1.00) r=0.29m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(-0.01,-0.04,-1.00) r=0.29m +[headless_play] t= 6.50s step= 325 trunk_z= 117.2mm grav_b=(-0.03,+0.02,-1.00) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 117.1mm grav_b=(-0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 6.70s step= 335 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 6.80s step= 340 trunk_z= 117.5mm grav_b=(-0.02,-0.00,-1.00) r=0.29m +[headless_play] t= 6.90s step= 345 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 7.10s step= 355 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 7.20s step= 360 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 7.30s step= 365 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 120.2mm grav_b=(+0.01,-0.04,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 119.5mm grav_b=(+0.02,-0.02,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 119.1mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 7.70s step= 385 trunk_z= 118.8mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 7.80s step= 390 trunk_z= 118.6mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 7.90s step= 395 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(+0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 8.10s step= 405 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00) r=0.29m +[headless_play] t= 8.20s step= 410 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.29m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(-0.05,+0.00,-1.00) r=0.28m +[headless_play] t= 8.40s step= 420 trunk_z= 118.2mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 8.50s step= 425 trunk_z= 117.5mm grav_b=(-0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 8.60s step= 430 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 116.9mm grav_b=(+0.07,+0.00,-1.00) r=0.29m +[headless_play] t= 8.80s step= 440 trunk_z= 117.1mm grav_b=(+0.04,+0.00,-1.00) r=0.29m +[headless_play] t= 8.90s step= 445 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) r=0.29m +[headless_play] t= 9.00s step= 450 trunk_z= 116.9mm grav_b=(+0.00,+0.00,-1.00) r=0.29m +[headless_play] t= 9.10s step= 455 trunk_z= 119.2mm grav_b=(+0.01,+0.03,-1.00) r=0.30m +[headless_play] t= 9.20s step= 460 trunk_z= 119.3mm grav_b=(+0.02,+0.02,-1.00) r=0.30m +[headless_play] t= 9.30s step= 465 trunk_z= 118.7mm grav_b=(+0.02,+0.01,-1.00) r=0.29m +[headless_play] t= 9.40s step= 470 trunk_z= 118.5mm grav_b=(+0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 9.50s step= 475 trunk_z= 118.4mm grav_b=(+0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 9.60s step= 480 trunk_z= 118.2mm grav_b=(+0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 9.70s step= 485 trunk_z= 118.1mm grav_b=(+0.01,-0.00,-1.00) r=0.29m +[headless_play] t= 9.80s step= 490 trunk_z= 119.8mm grav_b=(+0.03,-0.03,-1.00) r=0.29m +[headless_play] t= 9.90s step= 495 trunk_z= 119.4mm grav_b=(+0.03,-0.02,-1.00) r=0.29m +[headless_play] t= 10.00s step= 500 trunk_z= 118.8mm grav_b=(+0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 10.10s step= 505 trunk_z= 118.5mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 10.20s step= 510 trunk_z= 118.3mm grav_b=(-0.01,-0.02,-1.00) r=0.29m +[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(-0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 10.40s step= 520 trunk_z= 117.9mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(+0.00,-0.01,-1.00) r=0.29m +[headless_play] t= 10.60s step= 530 trunk_z= 117.6mm grav_b=(+0.00,-0.00,-1.00) r=0.29m +[headless_play] t= 10.70s step= 535 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.29m +[headless_play] t= 10.80s step= 540 trunk_z= 118.4mm grav_b=(-0.09,-0.01,-1.00) r=0.28m +[headless_play] t= 10.90s step= 545 trunk_z= 120.1mm grav_b=(-0.07,+0.01,-1.00) r=0.28m +[headless_play] t= 11.00s step= 550 trunk_z= 104.5mm grav_b=(+0.06,+0.11,-0.99) r=0.28m +[headless_play] t= 11.10s step= 555 trunk_z= 112.9mm grav_b=(+0.06,+0.11,-0.99) r=0.27m +[headless_play] t= 11.20s step= 560 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) r=0.26m +[headless_play] t= 11.30s step= 565 trunk_z= 122.5mm grav_b=(+0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 11.40s step= 570 trunk_z= 121.6mm grav_b=(-0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 11.50s step= 575 trunk_z= 122.9mm grav_b=(-0.00,+0.07,-1.00) r=0.29m +[headless_play] t= 11.60s step= 580 trunk_z= 122.7mm grav_b=(+0.00,+0.02,-1.00) r=0.29m +[headless_play] t= 11.70s step= 585 trunk_z= 119.4mm grav_b=(-0.02,-0.12,-0.99) r=0.27m +[headless_play] t= 11.80s step= 590 trunk_z= 127.6mm grav_b=(+0.00,-0.13,-0.99) r=0.27m +[headless_play] t= 11.90s step= 595 trunk_z= 127.8mm grav_b=(+0.00,-0.11,-0.99) r=0.28m +[headless_play] t= 12.00s step= 600 trunk_z= 119.4mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 12.10s step= 605 trunk_z= 122.5mm grav_b=(+0.04,+0.04,-1.00) r=0.31m +[headless_play] t= 12.20s step= 610 trunk_z= 119.5mm grav_b=(+0.09,-0.04,-0.99) r=0.30m +[headless_play] t= 12.30s step= 615 trunk_z= 126.6mm grav_b=(+0.04,-0.11,-0.99) r=0.29m +[headless_play] t= 12.40s step= 620 trunk_z= 126.7mm grav_b=(-0.00,-0.09,-1.00) r=0.30m +[headless_play] t= 12.50s step= 625 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00) r=0.32m +[headless_play] t= 12.60s step= 630 trunk_z= 121.4mm grav_b=(+0.08,-0.05,-1.00) r=0.32m +[headless_play] t= 12.70s step= 635 trunk_z= 119.8mm grav_b=(+0.08,-0.16,-0.98) r=0.31m +[headless_play] t= 12.80s step= 640 trunk_z= 130.5mm grav_b=(+0.05,-0.15,-0.99) r=0.31m +[headless_play] t= 12.90s step= 645 trunk_z= 126.0mm grav_b=(+0.01,-0.09,-1.00) r=0.32m +[headless_play] t= 13.00s step= 650 trunk_z= 122.5mm grav_b=(+0.01,-0.04,-1.00) r=0.33m +[headless_play] t= 13.10s step= 655 trunk_z= 122.8mm grav_b=(+0.02,-0.05,-1.00) r=0.33m +[headless_play] t= 13.20s step= 660 trunk_z= 121.7mm grav_b=(+0.00,-0.12,-0.99) r=0.31m +[headless_play] t= 13.30s step= 665 trunk_z= 120.8mm grav_b=(-0.03,+0.00,-1.00) r=0.33m +[headless_play] t= 13.40s step= 670 trunk_z= 125.3mm grav_b=(+0.02,+0.11,-0.99) r=0.34m +[headless_play] t= 13.50s step= 675 trunk_z= 126.0mm grav_b=(+0.05,+0.07,-1.00) r=0.34m +[headless_play] t= 13.60s step= 680 trunk_z= 122.2mm grav_b=(+0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 13.70s step= 685 trunk_z= 127.5mm grav_b=(+0.04,-0.12,-0.99) r=0.31m +[headless_play] t= 13.80s step= 690 trunk_z= 128.2mm grav_b=(-0.02,-0.11,-0.99) r=0.30m +[headless_play] t= 13.90s step= 695 trunk_z= 118.8mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 14.00s step= 700 trunk_z= 129.5mm grav_b=(-0.03,+0.14,-0.99) r=0.34m +[headless_play] t= 14.10s step= 705 trunk_z= 131.8mm grav_b=(-0.00,+0.16,-0.99) r=0.36m +[headless_play] t= 14.20s step= 710 trunk_z= 130.6mm grav_b=(+0.01,+0.13,-0.99) r=0.36m +[headless_play] t= 14.30s step= 715 trunk_z= 129.4mm grav_b=(+0.02,+0.07,-1.00) r=0.36m +[headless_play] t= 14.40s step= 720 trunk_z= 124.2mm grav_b=(+0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 14.50s step= 725 trunk_z= 126.7mm grav_b=(+0.03,-0.09,-1.00) r=0.35m +[headless_play] t= 14.60s step= 730 trunk_z= 121.2mm grav_b=(+0.03,-0.08,-1.00) r=0.36m +[headless_play] t= 14.70s step= 735 trunk_z= 121.9mm grav_b=(+0.05,-0.04,-1.00) r=0.38m +[headless_play] t= 14.80s step= 740 trunk_z= 122.8mm grav_b=(+0.07,-0.08,-0.99) r=0.38m +[headless_play] t= 14.90s step= 745 trunk_z= 126.1mm grav_b=(+0.03,-0.15,-0.99) r=0.37m +[headless_play] t= 15.00s step= 750 trunk_z= 127.3mm grav_b=(-0.02,-0.13,-0.99) r=0.37m +[headless_play] t= 15.10s step= 755 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00) r=0.39m +[headless_play] t= 15.20s step= 760 trunk_z= 123.3mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 15.30s step= 765 trunk_z= 118.8mm grav_b=(+0.02,-0.06,-1.00) r=0.39m +[headless_play] t= 15.40s step= 770 trunk_z= 125.6mm grav_b=(-0.01,-0.13,-0.99) r=0.37m +[headless_play] t= 15.50s step= 775 trunk_z= 125.1mm grav_b=(-0.02,-0.10,-0.99) r=0.38m +[headless_play] t= 15.60s step= 780 trunk_z= 117.7mm grav_b=(-0.08,-0.04,-1.00) r=0.39m +[headless_play] t= 15.70s step= 785 trunk_z= 122.3mm grav_b=(-0.09,-0.06,-0.99) r=0.39m +[headless_play] t= 15.80s step= 790 trunk_z= 113.0mm grav_b=(-0.04,-0.16,-0.99) r=0.39m +[headless_play] t= 15.90s step= 795 trunk_z= 120.0mm grav_b=(+0.08,-0.17,-0.98) r=0.41m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(+0.03,-0.07,-1.00) r=0.42m +[headless_play] t= 16.10s step= 805 trunk_z= 117.2mm grav_b=(+0.06,+0.05,-1.00) r=0.44m +[headless_play] t= 16.20s step= 810 trunk_z= 116.3mm grav_b=(+0.07,+0.01,-1.00) r=0.44m +[headless_play] t= 16.30s step= 815 trunk_z= 115.2mm grav_b=(+0.13,-0.13,-0.98) r=0.43m +[headless_play] t= 16.40s step= 820 trunk_z= 122.6mm grav_b=(+0.12,-0.09,-0.99) r=0.44m +[headless_play] t= 16.50s step= 825 trunk_z= 114.3mm grav_b=(-0.00,+0.02,-1.00) r=0.46m +[headless_play] t= 16.60s step= 830 trunk_z= 123.6mm grav_b=(+0.01,+0.02,-1.00) r=0.47m +[headless_play] t= 16.70s step= 835 trunk_z= 120.2mm grav_b=(+0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 16.80s step= 840 trunk_z= 124.0mm grav_b=(+0.01,-0.13,-0.99) r=0.45m +[headless_play] t= 16.90s step= 845 trunk_z= 122.4mm grav_b=(+0.02,-0.12,-0.99) r=0.46m +[headless_play] t= 17.00s step= 850 trunk_z= 115.8mm grav_b=(+0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 117.2mm grav_b=(+0.03,-0.00,-1.00) r=0.49m +[headless_play] t= 17.20s step= 860 trunk_z= 114.6mm grav_b=(+0.06,-0.08,-1.00) r=0.49m +[headless_play] t= 17.30s step= 865 trunk_z= 117.7mm grav_b=(+0.08,-0.15,-0.99) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 115.3mm grav_b=(+0.08,-0.09,-0.99) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 114.0mm grav_b=(+0.04,+0.08,-1.00) r=0.51m +[headless_play] t= 17.60s step= 880 trunk_z= 116.6mm grav_b=(+0.05,+0.05,-1.00) r=0.52m +[headless_play] t= 17.70s step= 885 trunk_z= 113.3mm grav_b=(+0.07,-0.07,-0.99) r=0.51m +[headless_play] t= 17.80s step= 890 trunk_z= 118.4mm grav_b=(+0.08,-0.15,-0.99) r=0.51m +[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(+0.08,-0.11,-0.99) r=0.52m +[headless_play] t= 18.00s step= 900 trunk_z= 113.1mm grav_b=(+0.07,+0.06,-1.00) r=0.54m +[headless_play] t= 18.10s step= 905 trunk_z= 116.1mm grav_b=(+0.10,+0.00,-1.00) r=0.55m +[headless_play] t= 18.20s step= 910 trunk_z= 117.5mm grav_b=(+0.10,-0.13,-0.99) r=0.55m +[headless_play] t= 18.30s step= 915 trunk_z= 120.7mm grav_b=(+0.04,-0.14,-0.99) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 116.6mm grav_b=(+0.02,-0.04,-1.00) r=0.57m +[headless_play] t= 18.50s step= 925 trunk_z= 118.2mm grav_b=(+0.03,+0.05,-1.00) r=0.59m +[headless_play] t= 18.60s step= 930 trunk_z= 116.1mm grav_b=(+0.08,-0.00,-1.00) r=0.59m +[headless_play] t= 18.70s step= 935 trunk_z= 115.6mm grav_b=(+0.08,-0.14,-0.99) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 118.3mm grav_b=(+0.08,-0.13,-0.99) r=0.58m +[headless_play] t= 18.90s step= 945 trunk_z= 114.0mm grav_b=(+0.05,-0.03,-1.00) r=0.60m +[headless_play] t= 19.00s step= 950 trunk_z= 115.6mm grav_b=(+0.05,+0.03,-1.00) r=0.61m +[headless_play] t= 19.10s step= 955 trunk_z= 112.1mm grav_b=(+0.08,-0.12,-0.99) r=0.61m +[headless_play] t= 19.20s step= 960 trunk_z= 116.3mm grav_b=(+0.12,-0.17,-0.98) r=0.61m +[headless_play] t= 19.30s step= 965 trunk_z= 115.4mm grav_b=(+0.07,-0.09,-0.99) r=0.63m +[headless_play] t= 19.40s step= 970 trunk_z= 118.5mm grav_b=(+0.04,+0.04,-1.00) r=0.64m +[headless_play] t= 19.50s step= 975 trunk_z= 119.4mm grav_b=(+0.04,+0.01,-1.00) r=0.64m +[headless_play] t= 19.60s step= 980 trunk_z= 120.6mm grav_b=(+0.04,-0.09,-1.00) r=0.63m +[headless_play] t= 19.70s step= 985 trunk_z= 123.5mm grav_b=(+0.01,-0.08,-1.00) r=0.64m +[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.00,+0.03,-1.00) r=0.66m +[headless_play] t= 19.90s step= 995 trunk_z= 123.1mm grav_b=(+0.11,+0.01,-0.99) r=0.67m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.0mm grav_b=(-0.01,-0.00,-1.00) r=0.09m +[headless_play] t= 20.10s step=1005 trunk_z= 115.3mm grav_b=(+0.01,-0.00,-1.00) r=0.08m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..57def9c5631276c7f593533f0777d5678387c673 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.035,-0.140,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.2mm grav_b=(-0.01,+0.00,-1.00) r=0.14m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.03,+0.06,-1.00) r=0.15m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.01,+0.07,-1.00) r=0.16m +[headless_play] t= 0.30s step= 15 trunk_z= 120.1mm grav_b=(+0.02,+0.07,-1.00) r=0.16m +[headless_play] t= 0.40s step= 20 trunk_z= 122.6mm grav_b=(+0.03,+0.08,-1.00) r=0.16m +[headless_play] t= 0.50s step= 25 trunk_z= 125.1mm grav_b=(-0.09,+0.01,-1.00) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 124.4mm grav_b=(-0.11,-0.13,-0.99) r=0.19m +[headless_play] t= 0.70s step= 35 trunk_z= 128.4mm grav_b=(-0.09,-0.12,-0.99) r=0.19m +[headless_play] t= 0.80s step= 40 trunk_z= 126.6mm grav_b=(-0.04,-0.03,-1.00) r=0.18m +[headless_play] t= 0.90s step= 45 trunk_z= 125.4mm grav_b=(+0.02,+0.04,-1.00) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 124.3mm grav_b=(+0.02,+0.06,-1.00) r=0.18m +[headless_play] t= 1.10s step= 55 trunk_z= 121.4mm grav_b=(-0.04,-0.02,-1.00) r=0.19m +[headless_play] t= 1.20s step= 60 trunk_z= 122.3mm grav_b=(-0.04,+0.02,-1.00) r=0.21m +[headless_play] t= 1.30s step= 65 trunk_z= 120.4mm grav_b=(-0.03,+0.10,-0.99) r=0.22m +[headless_play] t= 1.40s step= 70 trunk_z= 128.3mm grav_b=(-0.06,+0.08,-0.99) r=0.23m +[headless_play] t= 1.50s step= 75 trunk_z= 122.7mm grav_b=(-0.04,+0.09,-1.00) r=0.25m +[headless_play] t= 1.60s step= 80 trunk_z= 125.2mm grav_b=(-0.03,-0.02,-1.00) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 126.2mm grav_b=(-0.01,+0.02,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 121.6mm grav_b=(-0.04,+0.09,-0.99) r=0.29m +[headless_play] t= 1.90s step= 95 trunk_z= 128.3mm grav_b=(-0.08,+0.10,-0.99) r=0.31m +[headless_play] t= 2.00s step= 100 trunk_z= 125.2mm grav_b=(-0.04,+0.11,-0.99) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 123.4mm grav_b=(-0.04,+0.01,-1.00) r=0.34m +[headless_play] t= 2.20s step= 110 trunk_z= 127.3mm grav_b=(+0.01,-0.02,-1.00) r=0.35m +[headless_play] t= 2.30s step= 115 trunk_z= 130.1mm grav_b=(+0.03,-0.02,-1.00) r=0.37m +[headless_play] t= 2.40s step= 120 trunk_z= 115.8mm grav_b=(-0.06,+0.10,-0.99) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 125.3mm grav_b=(-0.09,+0.13,-0.99) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 125.8mm grav_b=(-0.03,+0.08,-1.00) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(-0.10,+0.05,-0.99) r=0.42m +[headless_play] t= 2.80s step= 140 trunk_z= 118.2mm grav_b=(-0.06,+0.10,-0.99) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 126.5mm grav_b=(-0.02,+0.07,-1.00) r=0.43m +[headless_play] t= 3.00s step= 150 trunk_z= 121.0mm grav_b=(+0.01,-0.03,-1.00) r=0.45m +[headless_play] t= 3.10s step= 155 trunk_z= 123.7mm grav_b=(-0.03,+0.00,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 122.5mm grav_b=(-0.08,+0.08,-0.99) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 126.9mm grav_b=(-0.06,+0.08,-0.99) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 115.4mm grav_b=(+0.02,+0.05,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 117.9mm grav_b=(+0.00,+0.01,-1.00) r=0.48m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(-0.02,+0.13,-0.99) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 124.1mm grav_b=(-0.08,+0.19,-0.98) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 126.6mm grav_b=(-0.03,+0.21,-0.98) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 126.4mm grav_b=(+0.01,+0.21,-0.98) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 124.8mm grav_b=(+0.02,+0.20,-0.98) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 119.9mm grav_b=(+0.03,+0.14,-0.99) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 119.7mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 120.5mm grav_b=(-0.02,+0.00,-1.00) r=0.53m +[headless_play] t= 4.40s step= 220 trunk_z= 115.3mm grav_b=(+0.02,+0.08,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 119.7mm grav_b=(+0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 118.9mm grav_b=(-0.04,-0.08,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 123.4mm grav_b=(-0.04,-0.03,-1.00) r=0.58m +[headless_play] t= 4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.03,+0.09,-1.00) r=0.59m +[headless_play] t= 5.00s step= 250 trunk_z= 124.3mm grav_b=(-0.04,+0.12,-0.99) r=0.59m +[headless_play] t= 5.10s step= 255 trunk_z= 122.0mm grav_b=(+0.02,+0.13,-0.99) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00) r=0.61m +[headless_play] t= 5.30s step= 265 trunk_z= 119.7mm grav_b=(+0.00,-0.02,-1.00) r=0.62m +[headless_play] t= 5.40s step= 270 trunk_z= 116.2mm grav_b=(+0.00,+0.05,-1.00) r=0.64m +[headless_play] t= 5.50s step= 275 trunk_z= 128.2mm grav_b=(-0.15,+0.18,-0.97) r=0.62m +[headless_play] t= 5.60s step= 280 trunk_z= 131.2mm grav_b=(-0.05,+0.12,-0.99) r=0.59m +[headless_play] t= 5.70s step= 285 trunk_z= 118.2mm grav_b=(-0.03,+0.18,-0.98) r=0.55m +[headless_play] t= 5.80s step= 290 trunk_z= 102.4mm grav_b=(-0.02,+0.14,-0.99) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 107.9mm grav_b=(-0.10,+0.15,-0.98) r=0.49m +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.01,+0.10,-0.99) r=0.47m +[headless_play] t= 6.10s step= 305 trunk_z= 115.9mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 122.3mm grav_b=(-0.02,-0.03,-1.00) r=0.45m +[headless_play] t= 6.30s step= 315 trunk_z= 116.1mm grav_b=(-0.02,+0.12,-0.99) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 126.2mm grav_b=(-0.05,+0.19,-0.98) r=0.51m +[headless_play] t= 6.50s step= 325 trunk_z= 125.5mm grav_b=(-0.01,+0.22,-0.98) r=0.53m +[headless_play] t= 6.60s step= 330 trunk_z= 124.2mm grav_b=(+0.04,+0.20,-0.98) r=0.53m +[headless_play] t= 6.70s step= 335 trunk_z= 119.8mm grav_b=(+0.01,+0.06,-1.00) r=0.54m +[headless_play] t= 6.80s step= 340 trunk_z= 120.3mm grav_b=(-0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 6.90s step= 345 trunk_z= 118.0mm grav_b=(-0.04,+0.08,-1.00) r=0.57m +[headless_play] t= 7.00s step= 350 trunk_z= 124.0mm grav_b=(-0.07,+0.07,-1.00) r=0.58m +[headless_play] t= 7.10s step= 355 trunk_z= 112.1mm grav_b=(+0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 7.20s step= 360 trunk_z= 122.1mm grav_b=(+0.04,-0.17,-0.98) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 125.5mm grav_b=(-0.01,-0.12,-0.99) r=0.56m +[headless_play] t= 7.40s step= 370 trunk_z= 126.6mm grav_b=(-0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 7.50s step= 375 trunk_z= 126.1mm grav_b=(-0.07,+0.08,-0.99) r=0.57m +[headless_play] t= 7.60s step= 380 trunk_z= 131.0mm grav_b=(-0.08,+0.14,-0.99) r=0.57m +[headless_play] t= 7.70s step= 385 trunk_z= 133.6mm grav_b=(+0.01,+0.24,-0.97) r=0.59m +[headless_play] t= 7.80s step= 390 trunk_z= 131.0mm grav_b=(+0.05,+0.27,-0.96) r=0.59m +[headless_play] t= 7.90s step= 395 trunk_z= 98.6mm grav_b=(-0.11,+0.50,-0.86) r=0.56m +[headless_play] RESET at t= 8.00s step= 400 (env termination, not a recovery) +[headless_play] t= 8.00s step= 400 trunk_z= 121.7mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 116.9mm grav_b=(-0.04,+0.03,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 119.2mm grav_b=(-0.04,+0.09,-0.99) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 121.4mm grav_b=(-0.02,+0.07,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 120.7mm grav_b=(+0.01,+0.09,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 126.3mm grav_b=(-0.03,+0.06,-1.00) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 121.8mm grav_b=(-0.06,+0.03,-1.00) r=0.35m +[headless_play] t= 8.70s step= 435 trunk_z= 122.9mm grav_b=(-0.06,+0.05,-1.00) r=0.35m +[headless_play] t= 8.80s step= 440 trunk_z= 121.5mm grav_b=(-0.05,+0.08,-1.00) r=0.37m +[headless_play] t= 8.90s step= 445 trunk_z= 125.4mm grav_b=(-0.07,+0.09,-0.99) r=0.38m +[headless_play] t= 9.00s step= 450 trunk_z= 125.9mm grav_b=(-0.06,+0.08,-0.99) r=0.38m +[headless_play] t= 9.10s step= 455 trunk_z= 123.0mm grav_b=(-0.05,-0.00,-1.00) r=0.37m +[headless_play] t= 9.20s step= 460 trunk_z= 125.3mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 9.30s step= 465 trunk_z= 120.5mm grav_b=(-0.04,+0.08,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 126.0mm grav_b=(-0.06,+0.08,-0.99) r=0.41m +[headless_play] t= 9.50s step= 475 trunk_z= 119.9mm grav_b=(-0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 9.60s step= 480 trunk_z= 126.6mm grav_b=(-0.04,-0.03,-1.00) r=0.40m +[headless_play] t= 9.70s step= 485 trunk_z= 126.6mm grav_b=(-0.02,+0.02,-1.00) r=0.42m +[headless_play] t= 9.80s step= 490 trunk_z= 121.3mm grav_b=(-0.05,+0.09,-0.99) r=0.45m +[headless_play] t= 9.90s step= 495 trunk_z= 128.0mm grav_b=(-0.07,+0.11,-0.99) r=0.46m +[headless_play] t= 10.00s step= 500 trunk_z= 126.4mm grav_b=(+0.01,+0.13,-0.99) r=0.47m +[headless_play] t= 10.10s step= 505 trunk_z= 126.4mm grav_b=(-0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 10.20s step= 510 trunk_z= 128.6mm grav_b=(-0.02,+0.06,-1.00) r=0.49m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(-0.08,+0.14,-0.99) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 126.6mm grav_b=(-0.08,+0.16,-0.98) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 128.5mm grav_b=(-0.03,+0.12,-0.99) r=0.55m +[headless_play] t= 10.60s step= 530 trunk_z= 119.7mm grav_b=(-0.04,+0.05,-1.00) r=0.54m +[headless_play] t= 10.70s step= 535 trunk_z= 121.1mm grav_b=(-0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 10.80s step= 540 trunk_z= 120.1mm grav_b=(-0.01,+0.12,-0.99) r=0.56m +[headless_play] t= 10.90s step= 545 trunk_z= 128.2mm grav_b=(-0.02,+0.06,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.58m +[headless_play] t= 11.10s step= 555 trunk_z= 125.2mm grav_b=(-0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 11.20s step= 560 trunk_z= 122.2mm grav_b=(-0.06,+0.07,-1.00) r=0.60m +[headless_play] t= 11.30s step= 565 trunk_z= 125.1mm grav_b=(-0.06,+0.07,-1.00) r=0.62m +[headless_play] t= 11.40s step= 570 trunk_z= 126.0mm grav_b=(-0.08,+0.07,-0.99) r=0.62m +[headless_play] t= 11.50s step= 575 trunk_z= 122.3mm grav_b=(-0.03,-0.00,-1.00) r=0.63m +[headless_play] t= 11.60s step= 580 trunk_z= 126.5mm grav_b=(-0.00,+0.03,-1.00) r=0.64m +[headless_play] t= 11.70s step= 585 trunk_z= 128.9mm grav_b=(+0.02,-0.00,-1.00) r=0.66m +[headless_play] t= 11.80s step= 590 trunk_z= 115.5mm grav_b=(-0.07,+0.13,-0.99) r=0.69m +[headless_play] t= 11.90s step= 595 trunk_z= 126.4mm grav_b=(-0.09,+0.15,-0.98) r=0.70m +[headless_play] t= 12.00s step= 600 trunk_z= 128.1mm grav_b=(-0.00,+0.07,-1.00) r=0.71m +[headless_play] t= 12.10s step= 605 trunk_z= 121.2mm grav_b=(-0.06,+0.03,-1.00) r=0.70m +[headless_play] t= 12.20s step= 610 trunk_z= 119.6mm grav_b=(-0.05,+0.06,-1.00) r=0.71m +[headless_play] t= 12.30s step= 615 trunk_z= 123.6mm grav_b=(-0.00,+0.09,-1.00) r=0.71m +[headless_play] t= 12.40s step= 620 trunk_z= 128.7mm grav_b=(-0.04,+0.08,-1.00) r=0.72m +[headless_play] t= 12.50s step= 625 trunk_z= 122.4mm grav_b=(-0.01,+0.07,-1.00) r=0.75m +[headless_play] t= 12.60s step= 630 trunk_z= 125.5mm grav_b=(+0.00,+0.10,-0.99) r=0.76m +[headless_play] t= 12.70s step= 635 trunk_z= 120.3mm grav_b=(-0.04,+0.12,-0.99) r=0.78m +[headless_play] t= 12.80s step= 640 trunk_z= 128.4mm grav_b=(-0.07,+0.14,-0.99) r=0.80m +[headless_play] t= 12.90s step= 645 trunk_z= 128.4mm grav_b=(-0.06,+0.11,-0.99) r=0.81m +[headless_play] t= 13.00s step= 650 trunk_z= 121.6mm grav_b=(-0.03,-0.00,-1.00) r=0.83m +[headless_play] t= 13.10s step= 655 trunk_z= 120.9mm grav_b=(-0.02,+0.02,-1.00) r=0.84m +[headless_play] t= 13.20s step= 660 trunk_z= 120.5mm grav_b=(+0.00,+0.11,-0.99) r=0.85m +[headless_play] t= 13.30s step= 665 trunk_z= 122.8mm grav_b=(-0.02,+0.05,-1.00) r=0.87m +[headless_play] t= 13.40s step= 670 trunk_z= 116.0mm grav_b=(+0.01,-0.07,-1.00) r=0.88m +[headless_play] t= 13.50s step= 675 trunk_z= 123.6mm grav_b=(-0.02,-0.06,-1.00) r=0.90m +[headless_play] t= 13.60s step= 680 trunk_z= 118.5mm grav_b=(-0.01,+0.06,-1.00) r=0.91m +[headless_play] t= 13.70s step= 685 trunk_z= 125.5mm grav_b=(-0.05,+0.09,-0.99) r=0.93m +[headless_play] t= 13.80s step= 690 trunk_z= 122.5mm grav_b=(-0.01,+0.04,-1.00) r=0.94m +[headless_play] t= 13.90s step= 695 trunk_z= 119.4mm grav_b=(-0.00,-0.06,-1.00) r=0.96m +[headless_play] t= 14.00s step= 700 trunk_z= 121.9mm grav_b=(-0.02,-0.02,-1.00) r=0.97m +[headless_play] t= 14.10s step= 705 trunk_z= 120.3mm grav_b=(+0.00,+0.10,-1.00) r=0.98m +[headless_play] t= 14.20s step= 710 trunk_z= 121.8mm grav_b=(-0.03,-0.00,-1.00) r=1.00m +[headless_play] t= 14.30s step= 715 trunk_z= 122.9mm grav_b=(-0.01,-0.15,-0.99) r=1.02m +[headless_play] t= 14.40s step= 720 trunk_z= 125.5mm grav_b=(+0.02,-0.11,-0.99) r=1.03m +[headless_play] t= 14.50s step= 725 trunk_z= 123.1mm grav_b=(+0.00,+0.02,-1.00) r=1.04m +[headless_play] t= 14.60s step= 730 trunk_z= 126.9mm grav_b=(-0.06,+0.10,-0.99) r=1.06m +[headless_play] t= 14.70s step= 735 trunk_z= 125.8mm grav_b=(-0.05,+0.07,-1.00) r=1.07m +[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=1.09m +[headless_play] t= 14.90s step= 745 trunk_z= 122.4mm grav_b=(-0.01,-0.05,-1.00) r=1.10m +[headless_play] t= 15.00s step= 750 trunk_z= 118.2mm grav_b=(-0.00,+0.05,-1.00) r=1.11m +[headless_play] t= 15.10s step= 755 trunk_z= 125.3mm grav_b=(-0.03,+0.12,-0.99) r=1.11m +[headless_play] t= 15.20s step= 760 trunk_z= 126.2mm grav_b=(+0.02,+0.12,-0.99) r=1.13m +[headless_play] t= 15.30s step= 765 trunk_z= 121.9mm grav_b=(+0.05,+0.09,-1.00) r=1.15m +[headless_play] t= 15.40s step= 770 trunk_z= 124.6mm grav_b=(-0.07,-0.07,-1.00) r=1.17m +[headless_play] t= 15.50s step= 775 trunk_z= 124.2mm grav_b=(-0.07,-0.01,-1.00) r=1.19m +[headless_play] t= 15.60s step= 780 trunk_z= 122.1mm grav_b=(-0.01,+0.08,-1.00) r=1.20m +[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(+0.03,+0.03,-1.00) r=1.22m +[headless_play] t= 15.80s step= 790 trunk_z= 115.1mm grav_b=(+0.08,-0.12,-0.99) r=1.24m +[headless_play] t= 15.90s step= 795 trunk_z= 128.0mm grav_b=(-0.02,-0.08,-1.00) r=1.26m +[headless_play] t= 16.00s step= 800 trunk_z= 125.4mm grav_b=(-0.02,+0.04,-1.00) r=1.28m +[headless_play] t= 16.10s step= 805 trunk_z= 128.2mm grav_b=(-0.09,+0.09,-0.99) r=1.30m +[headless_play] t= 16.20s step= 810 trunk_z= 126.5mm grav_b=(-0.04,+0.08,-1.00) r=1.31m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=1.31m +[headless_play] t= 16.40s step= 820 trunk_z= 121.9mm grav_b=(-0.02,-0.03,-1.00) r=1.32m +[headless_play] t= 16.50s step= 825 trunk_z= 117.3mm grav_b=(+0.00,+0.06,-1.00) r=1.32m +[headless_play] t= 16.60s step= 830 trunk_z= 122.2mm grav_b=(+0.00,+0.06,-1.00) r=1.34m +[headless_play] t= 16.70s step= 835 trunk_z= 117.2mm grav_b=(-0.03,-0.08,-1.00) r=1.36m +[headless_play] t= 16.80s step= 840 trunk_z= 125.1mm grav_b=(-0.02,-0.11,-0.99) r=1.38m +[headless_play] t= 16.90s step= 845 trunk_z= 123.6mm grav_b=(-0.00,-0.02,-1.00) r=1.39m +[headless_play] t= 17.00s step= 850 trunk_z= 122.1mm grav_b=(-0.01,+0.06,-1.00) r=1.40m +[headless_play] t= 17.10s step= 855 trunk_z= 125.3mm grav_b=(-0.06,+0.04,-1.00) r=1.40m +[headless_play] t= 17.20s step= 860 trunk_z= 117.8mm grav_b=(-0.00,+0.02,-1.00) r=1.40m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(-0.03,-0.05,-1.00) r=1.40m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(+0.01,+0.03,-1.00) r=1.41m +[headless_play] t= 17.50s step= 875 trunk_z= 123.7mm grav_b=(+0.01,+0.13,-0.99) r=1.41m +[headless_play] t= 17.60s step= 880 trunk_z= 123.7mm grav_b=(-0.03,+0.09,-1.00) r=1.43m +[headless_play] t= 17.70s step= 885 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00) r=1.45m +[headless_play] t= 17.80s step= 890 trunk_z= 121.3mm grav_b=(-0.03,-0.03,-1.00) r=1.46m +[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(+0.01,+0.07,-1.00) r=1.47m +[headless_play] t= 18.00s step= 900 trunk_z= 122.3mm grav_b=(-0.01,+0.12,-0.99) r=1.47m +[headless_play] t= 18.10s step= 905 trunk_z= 123.7mm grav_b=(+0.02,+0.16,-0.99) r=1.47m +[headless_play] t= 18.20s step= 910 trunk_z= 123.4mm grav_b=(+0.05,+0.18,-0.98) r=1.48m +[headless_play] t= 18.30s step= 915 trunk_z= 122.6mm grav_b=(-0.01,+0.08,-1.00) r=1.49m +[headless_play] t= 18.40s step= 920 trunk_z= 123.2mm grav_b=(-0.02,-0.03,-1.00) r=1.51m +[headless_play] t= 18.50s step= 925 trunk_z= 120.1mm grav_b=(-0.01,+0.03,-1.00) r=1.51m +[headless_play] t= 18.60s step= 930 trunk_z= 121.1mm grav_b=(-0.02,+0.10,-0.99) r=1.51m +[headless_play] t= 18.70s step= 935 trunk_z= 120.1mm grav_b=(+0.03,+0.04,-1.00) r=1.52m +[headless_play] t= 18.80s step= 940 trunk_z= 115.3mm grav_b=(+0.00,-0.06,-1.00) r=1.54m +[headless_play] t= 18.90s step= 945 trunk_z= 120.2mm grav_b=(-0.02,-0.04,-1.00) r=1.55m +[headless_play] t= 19.00s step= 950 trunk_z= 115.6mm grav_b=(-0.03,+0.08,-1.00) r=1.54m +[headless_play] t= 19.10s step= 955 trunk_z= 122.6mm grav_b=(-0.06,+0.11,-0.99) r=1.53m +[headless_play] t= 19.20s step= 960 trunk_z= 122.4mm grav_b=(-0.00,+0.11,-0.99) r=1.54m +[headless_play] t= 19.30s step= 965 trunk_z= 115.6mm grav_b=(+0.01,+0.04,-1.00) r=1.55m +[headless_play] t= 19.40s step= 970 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=1.56m +[headless_play] t= 19.50s step= 975 trunk_z= 115.1mm grav_b=(+0.02,+0.05,-1.00) r=1.56m +[headless_play] t= 19.60s step= 980 trunk_z= 114.4mm grav_b=(+0.04,+0.09,-0.99) r=1.56m +[headless_play] t= 19.70s step= 985 trunk_z= 115.9mm grav_b=(+0.04,+0.03,-1.00) r=1.57m +[headless_play] t= 19.80s step= 990 trunk_z= 116.2mm grav_b=(-0.00,-0.06,-1.00) r=1.58m +[headless_play] t= 19.90s step= 995 trunk_z= 122.8mm grav_b=(-0.04,-0.06,-1.00) r=1.59m +[headless_play] t= 20.00s step=1000 trunk_z= 123.9mm grav_b=(-0.00,-0.08,-1.00) r=1.60m +[headless_play] t= 20.10s step=1005 trunk_z= 123.7mm grav_b=(+0.02,-0.02,-1.00) r=1.60m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..1fd18139f59f61d13ab5e657d3e98a06e3c595ea --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.042,-0.188,+0.126) +[headless_play] t= 0.00s step= 0 trunk_z= 123.9mm grav_b=(-0.01,+0.00,-1.00) r=0.19m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.02,+0.01,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 119.3mm grav_b=(-0.04,-0.01,-1.00) r=0.19m +[headless_play] t= 0.30s step= 15 trunk_z= 119.1mm grav_b=(-0.05,+0.01,-1.00) r=0.19m +[headless_play] t= 0.40s step= 20 trunk_z= 119.1mm grav_b=(-0.07,-0.01,-1.00) r=0.18m +[headless_play] t= 0.50s step= 25 trunk_z= 118.7mm grav_b=(-0.07,-0.07,-1.00) r=0.18m +[headless_play] t= 0.60s step= 30 trunk_z= 121.1mm grav_b=(-0.09,-0.04,-1.00) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 119.0mm grav_b=(-0.08,+0.10,-0.99) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 124.6mm grav_b=(-0.12,+0.07,-0.99) r=0.16m +[headless_play] t= 0.90s step= 45 trunk_z= 121.4mm grav_b=(-0.11,+0.03,-0.99) r=0.15m +[headless_play] t= 1.00s step= 50 trunk_z= 120.7mm grav_b=(-0.08,-0.05,-1.00) r=0.15m +[headless_play] t= 1.10s step= 55 trunk_z= 119.6mm grav_b=(-0.05,-0.05,-1.00) r=0.14m +[headless_play] t= 1.20s step= 60 trunk_z= 115.9mm grav_b=(-0.04,+0.07,-1.00) r=0.13m +[headless_play] t= 1.30s step= 65 trunk_z= 124.2mm grav_b=(-0.08,+0.10,-0.99) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 121.8mm grav_b=(-0.06,+0.07,-1.00) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 121.2mm grav_b=(-0.04,-0.05,-1.00) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 123.6mm grav_b=(-0.02,-0.07,-1.00) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 118.2mm grav_b=(-0.05,+0.04,-1.00) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 126.9mm grav_b=(-0.10,+0.11,-0.99) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 124.3mm grav_b=(-0.08,+0.09,-0.99) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 119.1mm grav_b=(-0.06,-0.02,-1.00) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 122.7mm grav_b=(-0.05,-0.06,-1.00) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.05,+0.02,-1.00) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 123.3mm grav_b=(-0.09,+0.08,-0.99) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 120.4mm grav_b=(-0.07,+0.02,-1.00) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 122.4mm grav_b=(-0.05,-0.05,-1.00) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 121.8mm grav_b=(-0.08,-0.02,-1.00) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 122.1mm grav_b=(-0.07,+0.11,-0.99) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 128.3mm grav_b=(-0.07,+0.13,-0.99) r=0.11m +[headless_play] t= 2.90s step= 145 trunk_z= 130.7mm grav_b=(-0.07,+0.18,-0.98) r=0.12m +[headless_play] t= 3.00s step= 150 trunk_z= 130.2mm grav_b=(-0.08,+0.15,-0.99) r=0.12m +[headless_play] t= 3.10s step= 155 trunk_z= 126.7mm grav_b=(-0.10,+0.07,-0.99) r=0.12m +[headless_play] t= 3.20s step= 160 trunk_z= 125.9mm grav_b=(-0.11,-0.01,-0.99) r=0.11m +[headless_play] t= 3.30s step= 165 trunk_z= 126.4mm grav_b=(-0.10,-0.03,-0.99) r=0.12m +[headless_play] t= 3.40s step= 170 trunk_z= 119.7mm grav_b=(-0.09,+0.04,-1.00) r=0.14m +[headless_play] t= 3.50s step= 175 trunk_z= 126.6mm grav_b=(-0.07,+0.07,-1.00) r=0.15m +[headless_play] t= 3.60s step= 180 trunk_z= 123.8mm grav_b=(-0.08,+0.05,-1.00) r=0.15m +[headless_play] t= 3.70s step= 185 trunk_z= 122.7mm grav_b=(-0.12,-0.00,-0.99) r=0.16m +[headless_play] t= 3.80s step= 190 trunk_z= 119.0mm grav_b=(-0.15,+0.09,-0.98) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 127.8mm grav_b=(-0.09,+0.11,-0.99) r=0.19m +[headless_play] t= 4.00s step= 200 trunk_z= 127.5mm grav_b=(-0.08,+0.09,-0.99) r=0.20m +[headless_play] t= 4.10s step= 205 trunk_z= 121.2mm grav_b=(-0.10,-0.01,-0.99) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 126.4mm grav_b=(-0.12,-0.03,-0.99) r=0.21m +[headless_play] t= 4.30s step= 215 trunk_z= 122.2mm grav_b=(-0.10,+0.00,-0.99) r=0.23m +[headless_play] t= 4.40s step= 220 trunk_z= 126.1mm grav_b=(-0.03,+0.07,-1.00) r=0.25m +[headless_play] t= 4.50s step= 225 trunk_z= 127.2mm grav_b=(-0.01,+0.04,-1.00) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 124.4mm grav_b=(-0.11,-0.04,-0.99) r=0.30m +[headless_play] t= 4.70s step= 235 trunk_z= 127.5mm grav_b=(-0.14,-0.06,-0.99) r=0.31m +[headless_play] t= 4.80s step= 240 trunk_z= 119.5mm grav_b=(-0.12,+0.02,-0.99) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 124.9mm grav_b=(-0.10,+0.06,-0.99) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 121.1mm grav_b=(-0.09,+0.03,-1.00) r=0.35m +[headless_play] t= 5.10s step= 255 trunk_z= 125.5mm grav_b=(-0.16,-0.07,-0.98) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 125.3mm grav_b=(-0.16,-0.05,-0.99) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 117.4mm grav_b=(-0.10,+0.04,-0.99) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 124.2mm grav_b=(-0.05,+0.02,-1.00) r=0.31m +[headless_play] t= 5.50s step= 275 trunk_z= 120.1mm grav_b=(-0.06,-0.07,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 126.4mm grav_b=(-0.09,-0.06,-0.99) r=0.32m +[headless_play] t= 5.70s step= 285 trunk_z= 123.9mm grav_b=(-0.10,-0.03,-0.99) r=0.34m +[headless_play] t= 5.80s step= 290 trunk_z= 123.8mm grav_b=(-0.11,+0.09,-0.99) r=0.35m +[headless_play] t= 5.90s step= 295 trunk_z= 130.6mm grav_b=(-0.15,+0.20,-0.97) r=0.37m +[headless_play] t= 6.00s step= 300 trunk_z= 137.6mm grav_b=(-0.17,+0.21,-0.96) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 124.3mm grav_b=(-0.13,+0.01,-0.99) r=0.40m +[headless_play] t= 6.20s step= 310 trunk_z= 124.0mm grav_b=(-0.18,-0.01,-0.98) r=0.42m +[headless_play] t= 6.30s step= 315 trunk_z= 110.2mm grav_b=(-0.08,+0.08,-0.99) r=0.44m +[headless_play] t= 6.40s step= 320 trunk_z= 125.8mm grav_b=(-0.08,+0.14,-0.99) r=0.46m +[headless_play] t= 6.50s step= 325 trunk_z= 128.3mm grav_b=(-0.07,+0.12,-0.99) r=0.46m +[headless_play] t= 6.60s step= 330 trunk_z= 119.3mm grav_b=(-0.07,-0.01,-1.00) r=0.44m +[headless_play] t= 6.70s step= 335 trunk_z= 127.1mm grav_b=(-0.07,-0.05,-1.00) r=0.43m +[headless_play] t= 6.80s step= 340 trunk_z= 127.6mm grav_b=(-0.09,-0.05,-0.99) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 121.2mm grav_b=(-0.11,+0.05,-0.99) r=0.47m +[headless_play] t= 7.00s step= 350 trunk_z= 126.6mm grav_b=(-0.09,+0.08,-0.99) r=0.48m +[headless_play] t= 7.10s step= 355 trunk_z= 122.5mm grav_b=(-0.08,+0.05,-1.00) r=0.47m +[headless_play] t= 7.20s step= 360 trunk_z= 126.4mm grav_b=(-0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 7.30s step= 365 trunk_z= 129.2mm grav_b=(-0.06,+0.01,-1.00) r=0.48m +[headless_play] t= 7.40s step= 370 trunk_z= 117.9mm grav_b=(-0.12,+0.07,-0.99) r=0.50m +[headless_play] t= 7.50s step= 375 trunk_z= 125.6mm grav_b=(-0.12,+0.07,-0.99) r=0.51m +[headless_play] t= 7.60s step= 380 trunk_z= 119.9mm grav_b=(-0.11,+0.00,-0.99) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 124.9mm grav_b=(-0.11,-0.02,-0.99) r=0.51m +[headless_play] t= 7.80s step= 390 trunk_z= 119.6mm grav_b=(-0.08,+0.03,-1.00) r=0.53m +[headless_play] t= 7.90s step= 395 trunk_z= 121.3mm grav_b=(-0.01,+0.10,-0.99) r=0.56m +[headless_play] t= 8.00s step= 400 trunk_z= 120.2mm grav_b=(+0.01,+0.08,-1.00) r=0.56m +[headless_play] t= 8.10s step= 405 trunk_z= 122.1mm grav_b=(-0.06,-0.06,-1.00) r=0.56m +[headless_play] t= 8.20s step= 410 trunk_z= 125.4mm grav_b=(-0.12,-0.07,-0.99) r=0.57m +[headless_play] t= 8.30s step= 415 trunk_z= 118.4mm grav_b=(-0.08,+0.03,-1.00) r=0.59m +[headless_play] t= 8.40s step= 420 trunk_z= 122.7mm grav_b=(-0.07,+0.08,-0.99) r=0.61m +[headless_play] t= 8.50s step= 425 trunk_z= 119.8mm grav_b=(-0.06,+0.07,-1.00) r=0.61m +[headless_play] t= 8.60s step= 430 trunk_z= 118.8mm grav_b=(-0.12,-0.01,-0.99) r=0.60m +[headless_play] t= 8.70s step= 435 trunk_z= 122.3mm grav_b=(-0.13,+0.01,-0.99) r=0.61m +[headless_play] t= 8.80s step= 440 trunk_z= 110.5mm grav_b=(-0.08,+0.06,-1.00) r=0.61m +[headless_play] t= 8.90s step= 445 trunk_z= 112.8mm grav_b=(-0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 9.00s step= 450 trunk_z= 112.0mm grav_b=(+0.02,-0.02,-1.00) r=0.57m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.57m +[headless_play] t= 9.20s step= 460 trunk_z= 111.6mm grav_b=(-0.01,+0.07,-1.00) r=0.59m +[headless_play] t= 9.30s step= 465 trunk_z= 117.1mm grav_b=(-0.03,+0.12,-0.99) r=0.60m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.02,+0.09,-1.00) r=0.60m +[headless_play] t= 9.50s step= 475 trunk_z= 118.1mm grav_b=(-0.04,-0.03,-1.00) r=0.59m +[headless_play] t= 9.60s step= 480 trunk_z= 122.6mm grav_b=(-0.08,-0.04,-1.00) r=0.59m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 9.80s step= 490 trunk_z= 120.6mm grav_b=(+0.01,+0.16,-0.99) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 130.1mm grav_b=(-0.02,+0.17,-0.98) r=0.65m +[headless_play] t= 10.00s step= 500 trunk_z= 134.6mm grav_b=(-0.13,+0.07,-0.99) r=0.66m +[headless_play] t= 10.10s step= 505 trunk_z= 128.7mm grav_b=(-0.05,-0.04,-1.00) r=0.66m +[headless_play] t= 10.20s step= 510 trunk_z= 130.2mm grav_b=(-0.13,-0.07,-0.99) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 123.4mm grav_b=(-0.10,-0.02,-1.00) r=0.69m +[headless_play] t= 10.40s step= 520 trunk_z= 122.8mm grav_b=(-0.03,+0.06,-1.00) r=0.71m +[headless_play] t= 10.50s step= 525 trunk_z= 119.6mm grav_b=(-0.06,+0.02,-1.00) r=0.71m +[headless_play] t= 10.60s step= 530 trunk_z= 123.8mm grav_b=(-0.10,-0.08,-0.99) r=0.70m +[headless_play] t= 10.70s step= 535 trunk_z= 124.5mm grav_b=(-0.14,-0.03,-0.99) r=0.71m +[headless_play] t= 10.80s step= 540 trunk_z= 108.7mm grav_b=(-0.03,+0.08,-1.00) r=0.72m +[headless_play] t= 10.90s step= 545 trunk_z= 109.3mm grav_b=(-0.03,+0.13,-0.99) r=0.73m +[headless_play] t= 11.00s step= 550 trunk_z= 109.5mm grav_b=(-0.00,+0.04,-1.00) r=0.72m +[headless_play] t= 11.10s step= 555 trunk_z= 118.0mm grav_b=(-0.04,-0.03,-1.00) r=0.71m +[headless_play] t= 11.20s step= 560 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.72m +[headless_play] t= 11.30s step= 565 trunk_z= 114.4mm grav_b=(-0.03,+0.09,-1.00) r=0.74m +[headless_play] t= 11.40s step= 570 trunk_z= 120.8mm grav_b=(-0.08,+0.10,-0.99) r=0.75m +[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(-0.03,+0.05,-1.00) r=0.74m +[headless_play] t= 11.60s step= 580 trunk_z= 120.3mm grav_b=(-0.04,-0.05,-1.00) r=0.73m +[headless_play] t= 11.70s step= 585 trunk_z= 119.2mm grav_b=(-0.03,-0.04,-1.00) r=0.74m +[headless_play] t= 11.80s step= 590 trunk_z= 116.4mm grav_b=(-0.02,+0.05,-1.00) r=0.75m +[headless_play] t= 11.90s step= 595 trunk_z= 122.4mm grav_b=(-0.09,+0.11,-0.99) r=0.78m +[headless_play] t= 12.00s step= 600 trunk_z= 120.3mm grav_b=(-0.04,+0.10,-0.99) r=0.79m +[headless_play] t= 12.10s step= 605 trunk_z= 115.5mm grav_b=(-0.00,+0.00,-1.00) r=0.78m +[headless_play] t= 12.20s step= 610 trunk_z= 122.1mm grav_b=(-0.04,-0.08,-1.00) r=0.77m +[headless_play] t= 12.30s step= 615 trunk_z= 118.7mm grav_b=(-0.00,-0.06,-1.00) r=0.78m +[headless_play] t= 12.40s step= 620 trunk_z= 116.6mm grav_b=(-0.04,+0.12,-0.99) r=0.81m +[headless_play] t= 12.50s step= 625 trunk_z= 125.2mm grav_b=(-0.08,+0.14,-0.99) r=0.83m +[headless_play] t= 12.60s step= 630 trunk_z= 124.6mm grav_b=(-0.05,+0.15,-0.99) r=0.84m +[headless_play] t= 12.70s step= 635 trunk_z= 121.8mm grav_b=(-0.03,+0.09,-1.00) r=0.83m +[headless_play] t= 12.80s step= 640 trunk_z= 122.8mm grav_b=(-0.06,-0.04,-1.00) r=0.82m +[headless_play] t= 12.90s step= 645 trunk_z= 123.0mm grav_b=(-0.04,-0.05,-1.00) r=0.83m +[headless_play] t= 13.00s step= 650 trunk_z= 112.5mm grav_b=(-0.00,+0.10,-1.00) r=0.86m +[headless_play] t= 13.10s step= 655 trunk_z= 123.8mm grav_b=(-0.04,+0.22,-0.97) r=0.89m +[headless_play] t= 13.20s step= 660 trunk_z= 125.3mm grav_b=(-0.04,+0.24,-0.97) r=0.91m +[headless_play] t= 13.30s step= 665 trunk_z= 134.7mm grav_b=(-0.04,+0.20,-0.98) r=0.93m +[headless_play] t= 13.40s step= 670 trunk_z= 134.7mm grav_b=(-0.13,+0.07,-0.99) r=0.96m +[headless_play] t= 13.50s step= 675 trunk_z= 129.0mm grav_b=(-0.06,+0.03,-1.00) r=0.99m +[headless_play] t= 13.60s step= 680 trunk_z= 114.2mm grav_b=(-0.01,+0.05,-1.00) r=1.00m +[headless_play] t= 13.70s step= 685 trunk_z= 120.3mm grav_b=(-0.06,+0.06,-1.00) r=1.01m +[headless_play] t= 13.80s step= 690 trunk_z= 117.6mm grav_b=(-0.09,-0.01,-1.00) r=1.01m +[headless_play] t= 13.90s step= 695 trunk_z= 122.6mm grav_b=(-0.10,-0.11,-0.99) r=1.00m +[headless_play] t= 14.00s step= 700 trunk_z= 127.1mm grav_b=(-0.09,-0.11,-0.99) r=0.99m +[headless_play] t= 14.10s step= 705 trunk_z= 126.4mm grav_b=(-0.06,-0.04,-1.00) r=0.99m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(-0.06,+0.02,-1.00) r=0.99m +[headless_play] t= 14.30s step= 715 trunk_z= 118.8mm grav_b=(-0.06,+0.05,-1.00) r=0.99m +[headless_play] t= 14.40s step= 720 trunk_z= 115.4mm grav_b=(-0.04,+0.03,-1.00) r=0.98m +[headless_play] t= 14.50s step= 725 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.98m +[headless_play] t= 14.60s step= 730 trunk_z= 115.2mm grav_b=(-0.00,+0.00,-1.00) r=0.99m +[headless_play] t= 14.70s step= 735 trunk_z= 113.8mm grav_b=(-0.03,+0.09,-1.00) r=1.01m +[headless_play] t= 14.80s step= 740 trunk_z= 117.9mm grav_b=(-0.07,+0.07,-1.00) r=1.02m +[headless_play] t= 14.90s step= 745 trunk_z= 114.6mm grav_b=(-0.02,+0.01,-1.00) r=1.02m +[headless_play] t= 15.00s step= 750 trunk_z= 119.0mm grav_b=(-0.05,-0.05,-1.00) r=1.02m +[headless_play] t= 15.10s step= 755 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(-0.04,+0.09,-1.00) r=1.06m +[headless_play] t= 15.30s step= 765 trunk_z= 120.5mm grav_b=(-0.06,+0.10,-0.99) r=1.08m +[headless_play] t= 15.40s step= 770 trunk_z= 116.6mm grav_b=(+0.01,+0.07,-1.00) r=1.08m +[headless_play] t= 15.50s step= 775 trunk_z= 119.3mm grav_b=(-0.03,-0.07,-1.00) r=1.08m +[headless_play] t= 15.60s step= 780 trunk_z= 121.0mm grav_b=(-0.03,-0.07,-1.00) r=1.10m +[headless_play] t= 15.70s step= 785 trunk_z= 116.3mm grav_b=(+0.05,+0.03,-1.00) r=1.13m +[headless_play] t= 15.80s step= 790 trunk_z= 126.6mm grav_b=(-0.03,+0.15,-0.99) r=1.15m +[headless_play] t= 15.90s step= 795 trunk_z= 124.8mm grav_b=(-0.07,+0.12,-0.99) r=1.18m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.04,+0.04,-1.00) r=1.19m +[headless_play] t= 16.10s step= 805 trunk_z= 122.7mm grav_b=(-0.10,-0.07,-0.99) r=1.19m +[headless_play] t= 16.20s step= 810 trunk_z= 127.6mm grav_b=(-0.08,-0.08,-0.99) r=1.18m +[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(-0.06,+0.00,-1.00) r=1.18m +[headless_play] t= 16.40s step= 820 trunk_z= 125.4mm grav_b=(-0.08,+0.09,-0.99) r=1.18m +[headless_play] t= 16.50s step= 825 trunk_z= 125.5mm grav_b=(-0.06,+0.08,-1.00) r=1.17m +[headless_play] t= 16.60s step= 830 trunk_z= 119.5mm grav_b=(-0.08,-0.05,-1.00) r=1.17m +[headless_play] t= 16.70s step= 835 trunk_z= 126.5mm grav_b=(-0.10,-0.07,-0.99) r=1.17m +[headless_play] t= 16.80s step= 840 trunk_z= 118.8mm grav_b=(-0.10,+0.07,-0.99) r=1.21m +[headless_play] t= 16.90s step= 845 trunk_z= 130.4mm grav_b=(-0.07,+0.13,-0.99) r=1.24m +[headless_play] t= 17.00s step= 850 trunk_z= 132.7mm grav_b=(-0.07,+0.15,-0.99) r=1.25m +[headless_play] t= 17.10s step= 855 trunk_z= 132.7mm grav_b=(-0.10,+0.11,-0.99) r=1.26m +[headless_play] t= 17.20s step= 860 trunk_z= 122.5mm grav_b=(-0.15,+0.01,-0.99) r=1.28m +[headless_play] t= 17.30s step= 865 trunk_z= 126.7mm grav_b=(-0.12,-0.03,-0.99) r=1.28m +[headless_play] t= 17.40s step= 870 trunk_z= 124.3mm grav_b=(-0.12,-0.03,-0.99) r=1.30m +[headless_play] t= 17.50s step= 875 trunk_z= 123.1mm grav_b=(-0.12,+0.06,-0.99) r=1.31m +[headless_play] t= 17.60s step= 880 trunk_z= 123.6mm grav_b=(-0.11,+0.05,-0.99) r=1.32m +[headless_play] t= 17.70s step= 885 trunk_z= 121.3mm grav_b=(-0.08,-0.03,-1.00) r=1.32m +[headless_play] t= 17.80s step= 890 trunk_z= 125.5mm grav_b=(-0.10,-0.03,-0.99) r=1.33m +[headless_play] t= 17.90s step= 895 trunk_z= 118.6mm grav_b=(-0.11,+0.06,-0.99) r=1.35m +[headless_play] t= 18.00s step= 900 trunk_z= 127.0mm grav_b=(-0.11,+0.13,-0.99) r=1.37m +[headless_play] t= 18.10s step= 905 trunk_z= 126.9mm grav_b=(-0.09,+0.09,-0.99) r=1.38m +[headless_play] t= 18.20s step= 910 trunk_z= 120.2mm grav_b=(-0.09,-0.01,-1.00) r=1.38m +[headless_play] t= 18.30s step= 915 trunk_z= 127.2mm grav_b=(-0.10,-0.04,-0.99) r=1.39m +[headless_play] t= 18.40s step= 920 trunk_z= 124.1mm grav_b=(-0.11,-0.01,-0.99) r=1.41m +[headless_play] t= 18.50s step= 925 trunk_z= 124.3mm grav_b=(-0.14,+0.11,-0.98) r=1.43m +[headless_play] t= 18.60s step= 930 trunk_z= 127.1mm grav_b=(-0.11,+0.10,-0.99) r=1.44m +[headless_play] t= 18.70s step= 935 trunk_z= 122.1mm grav_b=(-0.09,+0.04,-1.00) r=1.44m +[headless_play] t= 18.80s step= 940 trunk_z= 126.1mm grav_b=(-0.12,-0.04,-0.99) r=1.45m +[headless_play] t= 18.90s step= 945 trunk_z= 127.7mm grav_b=(-0.03,-0.05,-1.00) r=1.47m +[headless_play] t= 19.00s step= 950 trunk_z= 119.2mm grav_b=(-0.09,+0.03,-1.00) r=1.51m +[headless_play] t= 19.10s step= 955 trunk_z= 123.5mm grav_b=(-0.10,+0.14,-0.99) r=1.54m +[headless_play] t= 19.20s step= 960 trunk_z= 130.8mm grav_b=(-0.09,+0.13,-0.99) r=1.56m +[headless_play] t= 19.30s step= 965 trunk_z= 130.4mm grav_b=(-0.11,+0.09,-0.99) r=1.58m +[headless_play] t= 19.40s step= 970 trunk_z= 121.6mm grav_b=(-0.15,-0.01,-0.99) r=1.58m +[headless_play] t= 19.50s step= 975 trunk_z= 125.1mm grav_b=(-0.15,-0.03,-0.99) r=1.59m +[headless_play] t= 19.60s step= 980 trunk_z= 118.3mm grav_b=(-0.13,+0.03,-0.99) r=1.60m +[headless_play] t= 19.70s step= 985 trunk_z= 128.7mm grav_b=(-0.13,+0.16,-0.98) r=1.61m +[headless_play] t= 19.80s step= 990 trunk_z= 130.4mm grav_b=(-0.12,+0.18,-0.98) r=1.62m +[headless_play] t= 19.90s step= 995 trunk_z= 130.3mm grav_b=(-0.11,+0.18,-0.98) r=1.63m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.1mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3b00f05f5649e42c5e4b4e076aae70367a3ab7a2 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.382,+0.459,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 125.7mm grav_b=(-0.01,+0.00,-1.00) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(-0.03,+0.00,-1.00) r=0.60m +[headless_play] t= 0.70s step= 35 trunk_z= 117.7mm grav_b=(-0.13,-0.00,-0.99) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(-0.08,-0.06,-1.00) r=0.61m +[headless_play] t= 0.90s step= 45 trunk_z= 112.8mm grav_b=(-0.00,+0.01,-1.00) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 112.0mm grav_b=(-0.03,+0.02,-1.00) r=0.64m +[headless_play] t= 1.10s step= 55 trunk_z= 113.6mm grav_b=(-0.04,-0.03,-1.00) r=0.64m +[headless_play] t= 1.20s step= 60 trunk_z= 114.8mm grav_b=(-0.04,-0.02,-1.00) r=0.65m +[headless_play] t= 1.30s step= 65 trunk_z= 116.0mm grav_b=(-0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(-0.04,+0.04,-1.00) r=0.66m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(-0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 1.60s step= 80 trunk_z= 117.3mm grav_b=(-0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00) r=0.65m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 1.90s step= 95 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 2.30s step= 115 trunk_z= 116.9mm grav_b=(-0.05,+0.00,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(-0.07,+0.00,-1.00) r=0.66m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.05,+0.01,-1.00) r=0.65m +[headless_play] t= 2.60s step= 130 trunk_z= 117.0mm grav_b=(-0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(-0.00,+0.01,-1.00) r=0.65m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 2.90s step= 145 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.65m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.07,-0.01,-1.00) r=0.65m +[headless_play] t= 3.10s step= 155 trunk_z= 119.1mm grav_b=(-0.17,+0.02,-0.99) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 93.1mm grav_b=(-0.07,+0.14,-0.99) r=0.70m +[headless_play] t= 3.30s step= 165 trunk_z= 94.9mm grav_b=(+0.02,+0.21,-0.98) r=0.71m +[headless_play] t= 3.40s step= 170 trunk_z= 112.6mm grav_b=(+0.03,+0.10,-0.99) r=0.71m +[headless_play] t= 3.50s step= 175 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.71m +[headless_play] t= 3.60s step= 180 trunk_z= 115.7mm grav_b=(-0.04,+0.02,-1.00) r=0.71m +[headless_play] t= 3.70s step= 185 trunk_z= 115.6mm grav_b=(-0.04,+0.03,-1.00) r=0.71m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(-0.03,+0.02,-1.00) r=0.71m +[headless_play] t= 3.90s step= 195 trunk_z= 116.5mm grav_b=(-0.06,-0.00,-1.00) r=0.71m +[headless_play] t= 4.00s step= 200 trunk_z= 116.8mm grav_b=(-0.08,+0.00,-1.00) r=0.71m +[headless_play] t= 4.10s step= 205 trunk_z= 116.8mm grav_b=(-0.08,-0.01,-1.00) r=0.71m +[headless_play] t= 4.20s step= 210 trunk_z= 116.8mm grav_b=(-0.09,-0.01,-1.00) r=0.71m +[headless_play] t= 4.30s step= 215 trunk_z= 116.4mm grav_b=(-0.11,-0.03,-0.99) r=0.71m +[headless_play] t= 4.40s step= 220 trunk_z= 111.4mm grav_b=(-0.08,+0.05,-1.00) r=0.72m +[headless_play] t= 4.50s step= 225 trunk_z= 115.4mm grav_b=(-0.08,+0.06,-1.00) r=0.73m +[headless_play] t= 4.60s step= 230 trunk_z= 111.5mm grav_b=(-0.03,+0.00,-1.00) r=0.72m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) r=0.73m +[headless_play] t= 4.80s step= 240 trunk_z= 116.3mm grav_b=(-0.02,+0.04,-1.00) r=0.73m +[headless_play] t= 4.90s step= 245 trunk_z= 115.7mm grav_b=(-0.04,+0.03,-1.00) r=0.73m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(-0.02,+0.01,-1.00) r=0.73m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.73m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) r=0.73m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(-0.02,+0.01,-1.00) r=0.73m +[headless_play] t= 5.40s step= 270 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) r=0.73m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.73m +[headless_play] t= 5.60s step= 280 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(-0.09,+0.02,-1.00) r=0.74m +[headless_play] t= 5.80s step= 290 trunk_z= 117.5mm grav_b=(-0.06,+0.02,-1.00) r=0.74m +[headless_play] t= 5.90s step= 295 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.73m +[headless_play] t= 6.10s step= 305 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.73m +[headless_play] t= 6.20s step= 310 trunk_z= 117.2mm grav_b=(-0.03,+0.00,-1.00) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 118.5mm grav_b=(-0.03,+0.02,-1.00) r=0.74m +[headless_play] t= 6.40s step= 320 trunk_z= 118.8mm grav_b=(-0.03,+0.03,-1.00) r=0.74m +[headless_play] t= 6.50s step= 325 trunk_z= 118.5mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 6.60s step= 330 trunk_z= 118.4mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 118.2mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 6.90s step= 345 trunk_z= 118.0mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 7.00s step= 350 trunk_z= 117.9mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 117.9mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 7.20s step= 360 trunk_z= 117.8mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 7.30s step= 365 trunk_z= 117.8mm grav_b=(-0.09,+0.00,-1.00) r=0.74m +[headless_play] t= 7.40s step= 370 trunk_z= 117.8mm grav_b=(-0.08,+0.00,-1.00) r=0.74m +[headless_play] t= 7.50s step= 375 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00) r=0.74m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.74m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.00,+0.00,-1.00) r=0.74m +[headless_play] t= 7.80s step= 390 trunk_z= 117.5mm grav_b=(-0.03,+0.00,-1.00) r=0.74m +[headless_play] t= 7.90s step= 395 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.00s step= 400 trunk_z= 117.5mm grav_b=(-0.04,+0.00,-1.00) r=0.74m +[headless_play] t= 8.10s step= 405 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00) r=0.74m +[headless_play] t= 8.20s step= 410 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.30s step= 415 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.40s step= 420 trunk_z= 117.5mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 8.90s step= 445 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.74m +[headless_play] t= 9.00s step= 450 trunk_z= 117.5mm grav_b=(-0.05,-0.01,-1.00) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.74m +[headless_play] t= 9.30s step= 465 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.74m +[headless_play] t= 9.40s step= 470 trunk_z= 117.6mm grav_b=(-0.04,-0.00,-1.00) r=0.74m +[headless_play] t= 9.50s step= 475 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=0.74m +[headless_play] t= 9.60s step= 480 trunk_z= 119.1mm grav_b=(-0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 9.70s step= 485 trunk_z= 118.8mm grav_b=(-0.06,+0.03,-1.00) r=0.74m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.02,-0.06,-1.00) r=0.72m +[headless_play] t= 9.90s step= 495 trunk_z= 125.0mm grav_b=(+0.01,-0.04,-1.00) r=0.71m +[headless_play] t= 10.00s step= 500 trunk_z= 116.7mm grav_b=(-0.07,+0.06,-1.00) r=0.69m +[headless_play] t= 10.10s step= 505 trunk_z= 125.4mm grav_b=(-0.11,+0.11,-0.99) r=0.68m +[headless_play] t= 10.20s step= 510 trunk_z= 124.6mm grav_b=(-0.07,+0.04,-1.00) r=0.67m +[headless_play] t= 10.30s step= 515 trunk_z= 122.3mm grav_b=(-0.06,-0.03,-1.00) r=0.66m +[headless_play] t= 10.40s step= 520 trunk_z= 122.5mm grav_b=(-0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 10.50s step= 525 trunk_z= 120.4mm grav_b=(-0.04,+0.10,-0.99) r=0.66m +[headless_play] t= 10.60s step= 530 trunk_z= 131.5mm grav_b=(-0.06,+0.22,-0.97) r=0.67m +[headless_play] t= 10.70s step= 535 trunk_z= 131.4mm grav_b=(+0.05,+0.30,-0.95) r=0.67m +[headless_play] t= 10.80s step= 540 trunk_z= 142.0mm grav_b=(+0.08,+0.28,-0.96) r=0.68m +[headless_play] t= 10.90s step= 545 trunk_z= 107.9mm grav_b=(-0.15,+0.25,-0.96) r=0.66m +[headless_play] t= 11.00s step= 550 trunk_z= 113.0mm grav_b=(-0.02,+0.49,-0.87) r=0.70m +[headless_play] t= 11.10s step= 555 trunk_z= 101.4mm grav_b=(+0.65,+0.13,-0.75) r=0.74m +[headless_play] t= 11.20s step= 560 trunk_z= 67.6mm grav_b=(+0.74,+0.17,-0.65) r=0.78m +[headless_play] RESET at t= 11.24s step= 562 (env termination, not a recovery) +[headless_play] t= 11.30s step= 565 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(-0.04,+0.01,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 118.8mm grav_b=(-0.06,-0.07,-1.00) r=0.45m +[headless_play] t= 11.60s step= 580 trunk_z= 124.3mm grav_b=(-0.09,-0.11,-0.99) r=0.45m +[headless_play] t= 11.70s step= 585 trunk_z= 123.1mm grav_b=(-0.07,-0.05,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 120.7mm grav_b=(-0.05,+0.08,-1.00) r=0.49m +[headless_play] t= 11.90s step= 595 trunk_z= 125.2mm grav_b=(-0.02,+0.14,-0.99) r=0.50m +[headless_play] t= 12.00s step= 600 trunk_z= 124.6mm grav_b=(+0.02,+0.13,-0.99) r=0.50m +[headless_play] t= 12.10s step= 605 trunk_z= 119.2mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 12.20s step= 610 trunk_z= 125.1mm grav_b=(-0.01,-0.03,-1.00) r=0.50m +[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(-0.03,-0.02,-1.00) r=0.52m +[headless_play] t= 12.40s step= 620 trunk_z= 124.7mm grav_b=(-0.03,+0.10,-1.00) r=0.55m +[headless_play] t= 12.50s step= 625 trunk_z= 126.4mm grav_b=(-0.01,+0.12,-0.99) r=0.55m +[headless_play] t= 12.60s step= 630 trunk_z= 122.6mm grav_b=(-0.02,+0.06,-1.00) r=0.55m +[headless_play] t= 12.70s step= 635 trunk_z= 123.5mm grav_b=(-0.06,-0.04,-1.00) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 122.4mm grav_b=(-0.05,-0.04,-1.00) r=0.55m +[headless_play] t= 12.90s step= 645 trunk_z= 119.2mm grav_b=(-0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 13.00s step= 650 trunk_z= 120.2mm grav_b=(-0.06,+0.00,-1.00) r=0.55m +[headless_play] t= 13.10s step= 655 trunk_z= 119.3mm grav_b=(-0.03,-0.06,-1.00) r=0.55m +[headless_play] t= 13.20s step= 660 trunk_z= 121.4mm grav_b=(-0.04,-0.06,-1.00) r=0.56m +[headless_play] t= 13.30s step= 665 trunk_z= 118.3mm grav_b=(-0.03,+0.08,-1.00) r=0.58m +[headless_play] t= 13.40s step= 670 trunk_z= 126.4mm grav_b=(-0.04,+0.14,-0.99) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 125.3mm grav_b=(-0.01,+0.13,-0.99) r=0.60m +[headless_play] t= 13.60s step= 680 trunk_z= 120.0mm grav_b=(-0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 13.70s step= 685 trunk_z= 125.4mm grav_b=(-0.06,-0.06,-1.00) r=0.58m +[headless_play] t= 13.80s step= 690 trunk_z= 123.1mm grav_b=(-0.08,-0.06,-0.99) r=0.60m +[headless_play] t= 13.90s step= 695 trunk_z= 118.7mm grav_b=(-0.03,+0.08,-1.00) r=0.62m +[headless_play] t= 14.00s step= 700 trunk_z= 126.9mm grav_b=(-0.01,+0.14,-0.99) r=0.63m +[headless_play] t= 14.10s step= 705 trunk_z= 126.6mm grav_b=(+0.02,+0.09,-1.00) r=0.63m +[headless_play] t= 14.20s step= 710 trunk_z= 121.0mm grav_b=(-0.02,-0.02,-1.00) r=0.62m +[headless_play] t= 14.30s step= 715 trunk_z= 128.2mm grav_b=(-0.03,-0.01,-1.00) r=0.62m +[headless_play] t= 14.40s step= 720 trunk_z= 122.7mm grav_b=(-0.08,+0.01,-1.00) r=0.65m +[headless_play] t= 14.50s step= 725 trunk_z= 125.5mm grav_b=(-0.04,+0.13,-0.99) r=0.67m +[headless_play] t= 14.60s step= 730 trunk_z= 130.4mm grav_b=(+0.01,+0.12,-0.99) r=0.69m +[headless_play] t= 14.70s step= 735 trunk_z= 135.8mm grav_b=(+0.03,+0.18,-0.98) r=0.70m +[headless_play] t= 14.80s step= 740 trunk_z= 135.7mm grav_b=(+0.02,+0.11,-0.99) r=0.71m +[headless_play] t= 14.90s step= 745 trunk_z= 125.6mm grav_b=(-0.04,+0.01,-1.00) r=0.72m +[headless_play] t= 15.00s step= 750 trunk_z= 132.7mm grav_b=(-0.03,-0.01,-1.00) r=0.73m +[headless_play] t= 15.10s step= 755 trunk_z= 126.6mm grav_b=(-0.07,-0.03,-1.00) r=0.76m +[headless_play] t= 15.20s step= 760 trunk_z= 119.6mm grav_b=(-0.11,+0.07,-0.99) r=0.77m +[headless_play] t= 15.30s step= 765 trunk_z= 120.9mm grav_b=(-0.09,+0.02,-1.00) r=0.77m +[headless_play] t= 15.40s step= 770 trunk_z= 119.5mm grav_b=(-0.05,-0.02,-1.00) r=0.76m +[headless_play] t= 15.50s step= 775 trunk_z= 120.7mm grav_b=(-0.08,+0.02,-1.00) r=0.76m +[headless_play] t= 15.60s step= 780 trunk_z= 122.7mm grav_b=(-0.02,+0.12,-0.99) r=0.78m +[headless_play] t= 15.70s step= 785 trunk_z= 128.7mm grav_b=(+0.01,+0.12,-0.99) r=0.79m +[headless_play] t= 15.80s step= 790 trunk_z= 130.4mm grav_b=(+0.01,+0.10,-1.00) r=0.80m +[headless_play] t= 15.90s step= 795 trunk_z= 123.3mm grav_b=(-0.03,+0.03,-1.00) r=0.81m +[headless_play] t= 16.00s step= 800 trunk_z= 130.7mm grav_b=(-0.02,+0.03,-1.00) r=0.83m +[headless_play] t= 16.10s step= 805 trunk_z= 113.5mm grav_b=(-0.08,+0.06,-1.00) r=0.87m +[headless_play] t= 16.20s step= 810 trunk_z= 124.6mm grav_b=(-0.01,+0.09,-1.00) r=0.89m +[headless_play] t= 16.30s step= 815 trunk_z= 130.6mm grav_b=(-0.04,+0.08,-1.00) r=0.91m +[headless_play] t= 16.40s step= 820 trunk_z= 125.1mm grav_b=(-0.04,+0.07,-1.00) r=0.90m +[headless_play] t= 16.50s step= 825 trunk_z= 124.8mm grav_b=(-0.07,+0.01,-1.00) r=0.90m +[headless_play] t= 16.60s step= 830 trunk_z= 126.2mm grav_b=(-0.04,-0.00,-1.00) r=0.92m +[headless_play] t= 16.70s step= 835 trunk_z= 118.6mm grav_b=(-0.02,+0.06,-1.00) r=0.95m +[headless_play] t= 16.80s step= 840 trunk_z= 131.3mm grav_b=(+0.04,+0.09,-1.00) r=0.97m +[headless_play] t= 16.90s step= 845 trunk_z= 133.8mm grav_b=(-0.01,+0.07,-1.00) r=0.98m +[headless_play] t= 17.00s step= 850 trunk_z= 120.0mm grav_b=(-0.08,+0.02,-1.00) r=0.98m +[headless_play] t= 17.10s step= 855 trunk_z= 124.7mm grav_b=(-0.06,-0.01,-1.00) r=1.00m +[headless_play] t= 17.20s step= 860 trunk_z= 117.7mm grav_b=(-0.06,+0.04,-1.00) r=1.02m +[headless_play] t= 17.30s step= 865 trunk_z= 125.4mm grav_b=(-0.04,+0.08,-1.00) r=1.03m +[headless_play] t= 17.40s step= 870 trunk_z= 124.3mm grav_b=(-0.02,+0.08,-1.00) r=1.03m +[headless_play] t= 17.50s step= 875 trunk_z= 121.5mm grav_b=(+0.03,+0.03,-1.00) r=1.03m +[headless_play] t= 17.60s step= 880 trunk_z= 128.4mm grav_b=(+0.01,+0.05,-1.00) r=1.04m +[headless_play] t= 17.70s step= 885 trunk_z= 117.6mm grav_b=(-0.03,+0.14,-0.99) r=1.07m +[headless_play] t= 17.80s step= 890 trunk_z= 128.4mm grav_b=(+0.01,+0.12,-0.99) r=1.09m +[headless_play] t= 17.90s step= 895 trunk_z= 132.4mm grav_b=(-0.03,+0.10,-0.99) r=1.10m +[headless_play] t= 18.00s step= 900 trunk_z= 124.1mm grav_b=(-0.01,+0.05,-1.00) r=1.09m +[headless_play] t= 18.10s step= 905 trunk_z= 128.2mm grav_b=(-0.12,-0.09,-0.99) r=1.06m +[headless_play] t= 18.20s step= 910 trunk_z= 128.5mm grav_b=(-0.08,-0.12,-0.99) r=1.05m +[headless_play] t= 18.30s step= 915 trunk_z= 126.5mm grav_b=(-0.09,-0.08,-0.99) r=1.06m +[headless_play] t= 18.40s step= 920 trunk_z= 119.3mm grav_b=(-0.09,+0.01,-1.00) r=1.09m +[headless_play] t= 18.50s step= 925 trunk_z= 126.7mm grav_b=(-0.05,+0.09,-0.99) r=1.10m +[headless_play] t= 18.60s step= 930 trunk_z= 125.6mm grav_b=(-0.01,+0.08,-1.00) r=1.09m +[headless_play] t= 18.70s step= 935 trunk_z= 120.8mm grav_b=(-0.01,-0.04,-1.00) r=1.07m +[headless_play] t= 18.80s step= 940 trunk_z= 124.4mm grav_b=(-0.05,+0.00,-1.00) r=1.07m +[headless_play] t= 18.90s step= 945 trunk_z= 118.2mm grav_b=(-0.07,+0.08,-0.99) r=1.10m +[headless_play] t= 19.00s step= 950 trunk_z= 127.7mm grav_b=(-0.06,+0.13,-0.99) r=1.11m +[headless_play] t= 19.10s step= 955 trunk_z= 128.4mm grav_b=(-0.04,+0.13,-0.99) r=1.11m +[headless_play] t= 19.20s step= 960 trunk_z= 124.7mm grav_b=(-0.03,+0.07,-1.00) r=1.09m +[headless_play] t= 19.30s step= 965 trunk_z= 124.5mm grav_b=(-0.05,+0.01,-1.00) r=1.08m +[headless_play] t= 19.40s step= 970 trunk_z= 121.9mm grav_b=(-0.05,+0.05,-1.00) r=1.10m +[headless_play] t= 19.50s step= 975 trunk_z= 127.0mm grav_b=(-0.02,+0.17,-0.99) r=1.12m +[headless_play] t= 19.60s step= 980 trunk_z= 132.1mm grav_b=(-0.00,+0.18,-0.98) r=1.14m +[headless_play] t= 19.70s step= 985 trunk_z= 136.3mm grav_b=(+0.00,+0.09,-1.00) r=1.14m +[headless_play] t= 19.80s step= 990 trunk_z= 128.5mm grav_b=(-0.06,+0.04,-1.00) r=1.14m +[headless_play] t= 19.90s step= 995 trunk_z= 130.3mm grav_b=(-0.08,+0.01,-1.00) r=1.16m +[headless_play] t= 20.00s step=1000 trunk_z= 111.8mm grav_b=(-0.08,+0.03,-1.00) r=1.18m +[headless_play] t= 20.10s step=1005 trunk_z= 123.7mm grav_b=(-0.04,+0.02,-1.00) r=1.18m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..8c17003717b6eedbc80f6f733cf3ee1581a66569 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.211,-0.393,+0.120) +[headless_play] t= 0.00s step= 0 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(+0.02,+0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(+0.06,-0.02,-1.00) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.03,+0.08,-1.00) r=0.43m +[headless_play] t= 0.50s step= 25 trunk_z= 117.1mm grav_b=(+0.04,+0.06,-1.00) r=0.42m +[headless_play] t= 0.60s step= 30 trunk_z= 112.8mm grav_b=(+0.07,-0.05,-1.00) r=0.41m +[headless_play] t= 0.70s step= 35 trunk_z= 120.4mm grav_b=(+0.04,-0.06,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 118.1mm grav_b=(+0.02,+0.00,-1.00) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 122.7mm grav_b=(+0.02,+0.12,-0.99) r=0.36m +[headless_play] t= 1.00s step= 50 trunk_z= 124.8mm grav_b=(+0.06,+0.13,-0.99) r=0.35m +[headless_play] t= 1.10s step= 55 trunk_z= 123.6mm grav_b=(+0.07,+0.08,-0.99) r=0.34m +[headless_play] t= 1.20s step= 60 trunk_z= 120.0mm grav_b=(+0.04,-0.04,-1.00) r=0.34m +[headless_play] t= 1.30s step= 65 trunk_z= 122.1mm grav_b=(+0.02,-0.05,-1.00) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 116.1mm grav_b=(-0.00,+0.05,-1.00) r=0.30m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(+0.01,+0.08,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 123.3mm grav_b=(+0.13,+0.09,-0.99) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 116.4mm grav_b=(+0.10,-0.04,-0.99) r=0.25m +[headless_play] t= 1.80s step= 90 trunk_z= 130.0mm grav_b=(+0.04,-0.07,-1.00) r=0.24m +[headless_play] t= 1.90s step= 95 trunk_z= 121.2mm grav_b=(-0.02,+0.01,-1.00) r=0.21m +[headless_play] t= 2.00s step= 100 trunk_z= 125.4mm grav_b=(+0.00,+0.08,-1.00) r=0.19m +[headless_play] t= 2.10s step= 105 trunk_z= 123.9mm grav_b=(+0.05,+0.05,-1.00) r=0.20m +[headless_play] t= 2.20s step= 110 trunk_z= 121.1mm grav_b=(+0.03,-0.07,-1.00) r=0.22m +[headless_play] t= 2.30s step= 115 trunk_z= 125.0mm grav_b=(+0.01,-0.07,-1.00) r=0.22m +[headless_play] t= 2.40s step= 120 trunk_z= 119.8mm grav_b=(+0.04,+0.01,-1.00) r=0.21m +[headless_play] t= 2.50s step= 125 trunk_z= 125.0mm grav_b=(+0.03,+0.05,-1.00) r=0.21m +[headless_play] t= 2.60s step= 130 trunk_z= 120.9mm grav_b=(+0.05,-0.00,-1.00) r=0.22m +[headless_play] t= 2.70s step= 135 trunk_z= 125.3mm grav_b=(+0.02,-0.06,-1.00) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 124.6mm grav_b=(+0.01,-0.04,-1.00) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 120.2mm grav_b=(-0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 3.00s step= 150 trunk_z= 126.5mm grav_b=(+0.01,+0.08,-1.00) r=0.23m +[headless_play] t= 3.10s step= 155 trunk_z= 127.7mm grav_b=(+0.03,+0.12,-0.99) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 127.2mm grav_b=(+0.02,+0.07,-1.00) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.00,-0.05,-1.00) r=0.26m +[headless_play] t= 3.40s step= 170 trunk_z= 126.7mm grav_b=(+0.01,-0.05,-1.00) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 123.2mm grav_b=(-0.00,-0.04,-1.00) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 124.2mm grav_b=(-0.00,+0.08,-1.00) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 125.6mm grav_b=(+0.03,+0.06,-1.00) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 119.5mm grav_b=(+0.03,-0.02,-1.00) r=0.30m +[headless_play] t= 3.90s step= 195 trunk_z= 126.9mm grav_b=(-0.00,-0.06,-1.00) r=0.31m +[headless_play] t= 4.00s step= 200 trunk_z= 123.0mm grav_b=(-0.05,-0.01,-1.00) r=0.32m +[headless_play] t= 4.10s step= 205 trunk_z= 125.4mm grav_b=(+0.02,+0.10,-0.99) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 126.7mm grav_b=(+0.07,+0.08,-0.99) r=0.34m +[headless_play] t= 4.30s step= 215 trunk_z= 122.6mm grav_b=(+0.04,-0.01,-1.00) r=0.36m +[headless_play] t= 4.40s step= 220 trunk_z= 127.8mm grav_b=(+0.01,-0.06,-1.00) r=0.38m +[headless_play] t= 4.50s step= 225 trunk_z= 126.3mm grav_b=(-0.02,-0.04,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.01,+0.06,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 125.8mm grav_b=(+0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 121.8mm grav_b=(+0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 4.90s step= 245 trunk_z= 128.2mm grav_b=(+0.10,-0.04,-0.99) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 133.6mm grav_b=(+0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(+0.00,+0.01,-1.00) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 125.5mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 5.30s step= 265 trunk_z= 118.9mm grav_b=(+0.01,-0.01,-1.00) r=0.56m +[headless_play] t= 5.40s step= 270 trunk_z= 125.9mm grav_b=(-0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 5.50s step= 275 trunk_z= 122.2mm grav_b=(+0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 125.7mm grav_b=(+0.03,+0.10,-0.99) r=0.60m +[headless_play] t= 5.70s step= 285 trunk_z= 127.7mm grav_b=(+0.05,+0.08,-1.00) r=0.61m +[headless_play] t= 5.80s step= 290 trunk_z= 123.2mm grav_b=(+0.01,+0.02,-1.00) r=0.61m +[headless_play] t= 5.90s step= 295 trunk_z= 121.9mm grav_b=(-0.10,+0.02,-1.00) r=0.60m +[headless_play] t= 6.00s step= 300 trunk_z= 121.0mm grav_b=(-0.08,+0.08,-0.99) r=0.61m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(+0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 119.5mm grav_b=(+0.08,-0.09,-0.99) r=0.60m +[headless_play] t= 6.30s step= 315 trunk_z= 129.8mm grav_b=(+0.06,-0.08,-0.99) r=0.61m +[headless_play] t= 6.40s step= 320 trunk_z= 126.1mm grav_b=(-0.01,-0.02,-1.00) r=0.64m +[headless_play] t= 6.50s step= 325 trunk_z= 125.9mm grav_b=(-0.02,+0.13,-0.99) r=0.68m +[headless_play] t= 6.60s step= 330 trunk_z= 130.6mm grav_b=(+0.00,+0.13,-0.99) r=0.70m +[headless_play] t= 6.70s step= 335 trunk_z= 128.3mm grav_b=(+0.00,+0.10,-0.99) r=0.71m +[headless_play] t= 6.80s step= 340 trunk_z= 127.2mm grav_b=(+0.03,+0.03,-1.00) r=0.72m +[headless_play] t= 6.90s step= 345 trunk_z= 126.7mm grav_b=(-0.01,-0.04,-1.00) r=0.72m +[headless_play] t= 7.00s step= 350 trunk_z= 126.1mm grav_b=(+0.01,-0.04,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 120.4mm grav_b=(-0.02,+0.07,-1.00) r=0.77m +[headless_play] t= 7.20s step= 360 trunk_z= 127.8mm grav_b=(+0.15,+0.10,-0.98) r=0.80m +[headless_play] t= 7.30s step= 365 trunk_z= 128.8mm grav_b=(+0.11,+0.02,-0.99) r=0.83m +[headless_play] t= 7.40s step= 370 trunk_z= 124.6mm grav_b=(-0.01,-0.04,-1.00) r=0.86m +[headless_play] t= 7.50s step= 375 trunk_z= 123.7mm grav_b=(-0.08,-0.04,-1.00) r=0.89m +[headless_play] t= 7.60s step= 380 trunk_z= 122.3mm grav_b=(-0.04,+0.07,-1.00) r=0.92m +[headless_play] t= 7.70s step= 385 trunk_z= 124.4mm grav_b=(+0.04,+0.09,-1.00) r=0.93m +[headless_play] t= 7.80s step= 390 trunk_z= 120.6mm grav_b=(+0.06,+0.03,-1.00) r=0.92m +[headless_play] t= 7.90s step= 395 trunk_z= 124.1mm grav_b=(-0.00,-0.07,-1.00) r=0.92m +[headless_play] t= 8.00s step= 400 trunk_z= 126.2mm grav_b=(-0.04,-0.06,-1.00) r=0.93m +[headless_play] t= 8.10s step= 405 trunk_z= 119.3mm grav_b=(-0.10,-0.00,-0.99) r=0.94m +[headless_play] t= 8.20s step= 410 trunk_z= 123.7mm grav_b=(-0.05,+0.11,-0.99) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 124.0mm grav_b=(+0.02,+0.06,-1.00) r=0.95m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(+0.06,-0.07,-1.00) r=0.93m +[headless_play] t= 8.50s step= 425 trunk_z= 123.0mm grav_b=(+0.05,-0.10,-0.99) r=0.93m +[headless_play] t= 8.60s step= 430 trunk_z= 119.0mm grav_b=(-0.00,-0.00,-1.00) r=0.94m +[headless_play] t= 8.70s step= 435 trunk_z= 125.6mm grav_b=(+0.02,+0.11,-0.99) r=0.96m +[headless_play] t= 8.80s step= 440 trunk_z= 126.8mm grav_b=(+0.03,+0.09,-1.00) r=0.97m +[headless_play] t= 8.90s step= 445 trunk_z= 122.6mm grav_b=(+0.03,+0.01,-1.00) r=0.96m +[headless_play] t= 9.00s step= 450 trunk_z= 128.8mm grav_b=(+0.04,-0.07,-1.00) r=0.95m +[headless_play] t= 9.10s step= 455 trunk_z= 132.1mm grav_b=(+0.04,-0.09,-0.99) r=0.95m +[headless_play] t= 9.20s step= 460 trunk_z= 126.0mm grav_b=(-0.02,-0.04,-1.00) r=0.98m +[headless_play] t= 9.30s step= 465 trunk_z= 125.0mm grav_b=(+0.01,+0.05,-1.00) r=1.00m +[headless_play] t= 9.40s step= 470 trunk_z= 125.1mm grav_b=(+0.01,+0.06,-1.00) r=1.00m +[headless_play] t= 9.50s step= 475 trunk_z= 118.6mm grav_b=(+0.01,-0.04,-1.00) r=0.98m +[headless_play] t= 9.60s step= 480 trunk_z= 124.8mm grav_b=(-0.02,-0.02,-1.00) r=0.98m +[headless_play] t= 9.70s step= 485 trunk_z= 123.3mm grav_b=(+0.02,-0.01,-1.00) r=1.00m +[headless_play] t= 9.80s step= 490 trunk_z= 125.0mm grav_b=(+0.01,+0.10,-1.00) r=1.02m +[headless_play] t= 9.90s step= 495 trunk_z= 126.0mm grav_b=(+0.04,+0.09,-1.00) r=1.02m +[headless_play] t= 10.00s step= 500 trunk_z= 119.2mm grav_b=(+0.03,+0.00,-1.00) r=1.00m +[headless_play] t= 10.10s step= 505 trunk_z= 120.5mm grav_b=(+0.02,-0.01,-1.00) r=1.00m +[headless_play] t= 10.20s step= 510 trunk_z= 118.1mm grav_b=(+0.00,+0.01,-1.00) r=1.00m +[headless_play] t= 10.30s step= 515 trunk_z= 118.4mm grav_b=(+0.01,-0.01,-1.00) r=1.00m +[headless_play] t= 10.40s step= 520 trunk_z= 118.9mm grav_b=(+0.02,-0.00,-1.00) r=1.00m +[headless_play] t= 10.50s step= 525 trunk_z= 123.2mm grav_b=(+0.12,+0.02,-0.99) r=1.01m +[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(+0.06,-0.04,-1.00) r=1.00m +[headless_play] t= 10.70s step= 535 trunk_z= 116.6mm grav_b=(+0.05,-0.10,-0.99) r=1.00m +[headless_play] t= 10.80s step= 540 trunk_z= 117.9mm grav_b=(-0.05,-0.12,-0.99) r=1.00m +[headless_play] t= 10.90s step= 545 trunk_z= 113.5mm grav_b=(-0.05,-0.02,-1.00) r=1.01m +[headless_play] t= 11.00s step= 550 trunk_z= 118.9mm grav_b=(+0.02,+0.03,-1.00) r=1.01m +[headless_play] t= 11.10s step= 555 trunk_z= 118.3mm grav_b=(+0.02,-0.04,-1.00) r=1.01m +[headless_play] t= 11.20s step= 560 trunk_z= 117.3mm grav_b=(+0.00,-0.03,-1.00) r=1.01m +[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(-0.01,-0.01,-1.00) r=1.01m +[headless_play] t= 11.40s step= 570 trunk_z= 119.9mm grav_b=(+0.09,-0.00,-1.00) r=1.01m +[headless_play] t= 11.50s step= 575 trunk_z= 124.3mm grav_b=(+0.13,-0.01,-0.99) r=1.02m +[headless_play] t= 11.60s step= 580 trunk_z= 106.5mm grav_b=(+0.02,-0.13,-0.99) r=1.02m +[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(-0.03,-0.14,-0.99) r=1.02m +[headless_play] t= 11.80s step= 590 trunk_z= 113.2mm grav_b=(-0.08,-0.06,-1.00) r=1.03m +[headless_play] t= 11.90s step= 595 trunk_z= 119.6mm grav_b=(+0.01,+0.03,-1.00) r=1.05m +[headless_play] t= 12.00s step= 600 trunk_z= 117.8mm grav_b=(+0.03,+0.02,-1.00) r=1.04m +[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(+0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 117.2mm grav_b=(-0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.30s step= 615 trunk_z= 117.4mm grav_b=(-0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.40s step= 620 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 12.50s step= 625 trunk_z= 117.3mm grav_b=(-0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.60s step= 630 trunk_z= 117.3mm grav_b=(+0.00,+0.00,-1.00) r=1.04m +[headless_play] t= 12.70s step= 635 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.80s step= 640 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 12.90s step= 645 trunk_z= 117.2mm grav_b=(+0.01,+0.00,-1.00) r=1.04m +[headless_play] t= 13.00s step= 650 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.10s step= 655 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.30s step= 665 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.40s step= 670 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.50s step= 675 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=1.04m +[headless_play] t= 13.70s step= 685 trunk_z= 117.5mm grav_b=(+0.01,+0.01,-1.00) r=1.04m +[headless_play] t= 13.80s step= 690 trunk_z= 117.3mm grav_b=(-0.02,+0.01,-1.00) r=1.05m +[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00) r=1.05m +[headless_play] t= 14.00s step= 700 trunk_z= 116.7mm grav_b=(+0.04,+0.01,-1.00) r=1.05m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(+0.07,+0.00,-1.00) r=1.05m +[headless_play] t= 14.20s step= 710 trunk_z= 116.9mm grav_b=(+0.05,-0.00,-1.00) r=1.05m +[headless_play] t= 14.30s step= 715 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=1.04m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.05,+0.00,-1.00) r=1.05m +[headless_play] t= 14.50s step= 725 trunk_z= 115.8mm grav_b=(+0.07,-0.07,-1.00) r=1.04m +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(+0.05,-0.05,-1.00) r=1.04m +[headless_play] t= 14.70s step= 735 trunk_z= 114.4mm grav_b=(+0.04,+0.06,-1.00) r=1.05m +[headless_play] t= 14.80s step= 740 trunk_z= 121.0mm grav_b=(+0.04,+0.10,-0.99) r=1.05m +[headless_play] t= 14.90s step= 745 trunk_z= 119.4mm grav_b=(+0.09,+0.08,-0.99) r=1.05m +[headless_play] t= 15.00s step= 750 trunk_z= 118.0mm grav_b=(+0.08,-0.07,-0.99) r=1.03m +[headless_play] t= 15.10s step= 755 trunk_z= 121.9mm grav_b=(+0.05,-0.09,-0.99) r=1.02m +[headless_play] t= 15.20s step= 760 trunk_z= 117.7mm grav_b=(+0.06,-0.03,-1.00) r=1.03m +[headless_play] t= 15.30s step= 765 trunk_z= 121.2mm grav_b=(+0.04,+0.10,-0.99) r=1.04m +[headless_play] t= 15.40s step= 770 trunk_z= 120.9mm grav_b=(+0.07,+0.07,-1.00) r=1.03m +[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(+0.07,-0.04,-1.00) r=1.02m +[headless_play] t= 15.60s step= 780 trunk_z= 121.3mm grav_b=(+0.05,-0.08,-1.00) r=1.00m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=1.00m +[headless_play] t= 15.80s step= 790 trunk_z= 122.8mm grav_b=(+0.06,+0.12,-0.99) r=1.01m +[headless_play] t= 15.90s step= 795 trunk_z= 126.7mm grav_b=(+0.02,+0.11,-0.99) r=1.00m +[headless_play] t= 16.00s step= 800 trunk_z= 124.9mm grav_b=(+0.05,+0.08,-1.00) r=0.99m +[headless_play] t= 16.10s step= 805 trunk_z= 125.0mm grav_b=(+0.01,-0.04,-1.00) r=0.96m +[headless_play] t= 16.20s step= 810 trunk_z= 128.6mm grav_b=(-0.02,-0.07,-1.00) r=0.95m +[headless_play] t= 16.30s step= 815 trunk_z= 121.1mm grav_b=(-0.03,-0.03,-1.00) r=0.95m +[headless_play] t= 16.40s step= 820 trunk_z= 125.0mm grav_b=(-0.01,+0.09,-1.00) r=0.95m +[headless_play] t= 16.50s step= 825 trunk_z= 124.8mm grav_b=(+0.04,+0.08,-1.00) r=0.94m +[headless_play] t= 16.60s step= 830 trunk_z= 120.1mm grav_b=(+0.04,-0.03,-1.00) r=0.92m +[headless_play] t= 16.70s step= 835 trunk_z= 127.4mm grav_b=(-0.03,-0.04,-1.00) r=0.90m +[headless_play] t= 16.80s step= 840 trunk_z= 123.4mm grav_b=(-0.03,-0.02,-1.00) r=0.90m +[headless_play] t= 16.90s step= 845 trunk_z= 124.7mm grav_b=(-0.11,+0.13,-0.99) r=0.91m +[headless_play] t= 17.00s step= 850 trunk_z= 128.8mm grav_b=(-0.10,+0.14,-0.98) r=0.91m +[headless_play] t= 17.10s step= 855 trunk_z= 125.6mm grav_b=(+0.09,+0.02,-1.00) r=0.92m +[headless_play] t= 17.20s step= 860 trunk_z= 125.1mm grav_b=(+0.01,-0.06,-1.00) r=0.94m +[headless_play] t= 17.30s step= 865 trunk_z= 120.7mm grav_b=(-0.06,-0.03,-1.00) r=0.96m +[headless_play] t= 17.40s step= 870 trunk_z= 125.4mm grav_b=(+0.04,+0.12,-0.99) r=0.97m +[headless_play] t= 17.50s step= 875 trunk_z= 126.2mm grav_b=(+0.13,+0.04,-0.99) r=0.93m +[headless_play] t= 17.60s step= 880 trunk_z= 111.7mm grav_b=(+0.02,-0.05,-1.00) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 128.0mm grav_b=(-0.04,-0.01,-1.00) r=0.86m +[headless_play] t= 17.80s step= 890 trunk_z= 115.8mm grav_b=(-0.07,+0.03,-1.00) r=0.83m +[headless_play] t= 17.90s step= 895 trunk_z= 126.8mm grav_b=(-0.02,+0.10,-0.99) r=0.82m +[headless_play] t= 18.00s step= 900 trunk_z= 127.3mm grav_b=(+0.01,+0.09,-1.00) r=0.81m +[headless_play] t= 18.10s step= 905 trunk_z= 122.4mm grav_b=(+0.04,+0.03,-1.00) r=0.80m +[headless_play] t= 18.20s step= 910 trunk_z= 126.3mm grav_b=(+0.01,-0.02,-1.00) r=0.79m +[headless_play] t= 18.30s step= 915 trunk_z= 125.0mm grav_b=(-0.01,-0.01,-1.00) r=0.78m +[headless_play] t= 18.40s step= 920 trunk_z= 125.4mm grav_b=(-0.03,+0.11,-0.99) r=0.76m +[headless_play] t= 18.50s step= 925 trunk_z= 130.6mm grav_b=(+0.00,+0.16,-0.99) r=0.74m +[headless_play] t= 18.60s step= 930 trunk_z= 132.4mm grav_b=(+0.01,+0.16,-0.99) r=0.73m +[headless_play] t= 18.70s step= 935 trunk_z= 131.9mm grav_b=(+0.02,+0.12,-0.99) r=0.72m +[headless_play] t= 18.80s step= 940 trunk_z= 125.8mm grav_b=(+0.01,+0.01,-1.00) r=0.72m +[headless_play] t= 18.90s step= 945 trunk_z= 128.2mm grav_b=(+0.02,-0.01,-1.00) r=0.71m +[headless_play] t= 19.00s step= 950 trunk_z= 119.2mm grav_b=(+0.01,+0.05,-1.00) r=0.66m +[headless_play] t= 19.10s step= 955 trunk_z= 133.8mm grav_b=(+0.07,+0.15,-0.99) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 136.2mm grav_b=(+0.08,+0.16,-0.98) r=0.59m +[headless_play] t= 19.30s step= 965 trunk_z= 134.3mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 131.9mm grav_b=(-0.03,-0.09,-1.00) r=0.52m +[headless_play] t= 19.50s step= 975 trunk_z= 131.6mm grav_b=(+0.01,-0.14,-0.99) r=0.51m +[headless_play] t= 19.60s step= 980 trunk_z= 123.9mm grav_b=(+0.07,-0.06,-1.00) r=0.48m +[headless_play] t= 19.70s step= 985 trunk_z= 129.2mm grav_b=(+0.09,+0.04,-0.99) r=0.46m +[headless_play] t= 19.80s step= 990 trunk_z= 127.9mm grav_b=(+0.06,+0.00,-1.00) r=0.44m +[headless_play] t= 19.90s step= 995 trunk_z= 122.8mm grav_b=(-0.04,-0.04,-1.00) r=0.43m +[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=0.39m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00) r=0.39m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..c20fb944c510f0cc96b9ba57f647dd02b8468fbb --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-0.442,-0.224,+0.123) +[headless_play] t= 0.00s step= 0 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 118.4mm grav_b=(+0.01,+0.06,-1.00) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(-0.03,-0.04,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 115.1mm grav_b=(-0.04,+0.07,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 122.5mm grav_b=(-0.03,+0.15,-0.99) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 122.1mm grav_b=(+0.01,+0.18,-0.98) r=0.54m +[headless_play] t= 0.80s step= 40 trunk_z= 121.3mm grav_b=(+0.03,+0.12,-0.99) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 122.5mm grav_b=(-0.05,-0.04,-1.00) r=0.56m +[headless_play] t= 1.00s step= 50 trunk_z= 126.9mm grav_b=(-0.11,-0.06,-0.99) r=0.57m +[headless_play] t= 1.10s step= 55 trunk_z= 123.6mm grav_b=(-0.08,-0.00,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 118.2mm grav_b=(-0.05,+0.10,-0.99) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 118.2mm grav_b=(-0.02,+0.13,-0.99) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(+0.04,+0.10,-0.99) r=0.56m +[headless_play] t= 1.50s step= 75 trunk_z= 118.0mm grav_b=(+0.08,-0.08,-0.99) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 130.8mm grav_b=(+0.03,-0.05,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(-0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 1.80s step= 90 trunk_z= 124.7mm grav_b=(-0.04,+0.09,-0.99) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 125.9mm grav_b=(-0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 2.00s step= 100 trunk_z= 121.4mm grav_b=(-0.07,-0.01,-1.00) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 122.6mm grav_b=(-0.09,+0.02,-1.00) r=0.70m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(-0.02,+0.09,-1.00) r=0.73m +[headless_play] t= 2.30s step= 115 trunk_z= 121.2mm grav_b=(+0.01,+0.13,-0.99) r=0.75m +[headless_play] t= 2.40s step= 120 trunk_z= 118.2mm grav_b=(-0.00,+0.07,-1.00) r=0.75m +[headless_play] t= 2.50s step= 125 trunk_z= 121.9mm grav_b=(-0.14,-0.12,-0.98) r=0.74m +[headless_play] t= 2.60s step= 130 trunk_z= 127.8mm grav_b=(-0.18,-0.01,-0.98) r=0.73m +[headless_play] t= 2.70s step= 135 trunk_z= 118.6mm grav_b=(-0.06,+0.13,-0.99) r=0.70m +[headless_play] t= 2.80s step= 140 trunk_z= 130.1mm grav_b=(-0.10,+0.17,-0.98) r=0.67m +[headless_play] t= 2.90s step= 145 trunk_z= 121.3mm grav_b=(-0.00,+0.10,-1.00) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 104.0mm grav_b=(+0.15,+0.07,-0.99) r=0.59m +[headless_play] t= 3.10s step= 155 trunk_z= 106.5mm grav_b=(+0.07,+0.09,-0.99) r=0.60m +[headless_play] t= 3.20s step= 160 trunk_z= 116.5mm grav_b=(+0.03,+0.19,-0.98) r=0.62m +[headless_play] t= 3.30s step= 165 trunk_z= 127.0mm grav_b=(+0.00,+0.20,-0.98) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 126.8mm grav_b=(+0.05,+0.15,-0.99) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 121.1mm grav_b=(+0.02,+0.06,-1.00) r=0.70m +[headless_play] t= 3.60s step= 180 trunk_z= 133.8mm grav_b=(-0.02,-0.00,-1.00) r=0.73m +[headless_play] t= 3.70s step= 185 trunk_z= 116.9mm grav_b=(-0.11,+0.06,-0.99) r=0.77m +[headless_play] t= 3.80s step= 190 trunk_z= 122.3mm grav_b=(-0.11,+0.13,-0.99) r=0.79m +[headless_play] t= 3.90s step= 195 trunk_z= 124.4mm grav_b=(-0.06,+0.08,-0.99) r=0.80m +[headless_play] t= 4.00s step= 200 trunk_z= 120.9mm grav_b=(-0.04,+0.02,-1.00) r=0.81m +[headless_play] t= 4.10s step= 205 trunk_z= 122.0mm grav_b=(-0.04,+0.05,-1.00) r=0.82m +[headless_play] t= 4.20s step= 210 trunk_z= 121.4mm grav_b=(+0.05,+0.12,-0.99) r=0.84m +[headless_play] t= 4.30s step= 215 trunk_z= 134.4mm grav_b=(+0.07,+0.06,-1.00) r=0.87m +[headless_play] t= 4.40s step= 220 trunk_z= 120.2mm grav_b=(-0.07,+0.03,-1.00) r=0.91m +[headless_play] t= 4.50s step= 225 trunk_z= 121.7mm grav_b=(-0.06,+0.01,-1.00) r=0.94m +[headless_play] t= 4.60s step= 230 trunk_z= 124.3mm grav_b=(-0.12,+0.01,-0.99) r=0.96m +[headless_play] t= 4.70s step= 235 trunk_z= 122.8mm grav_b=(-0.08,+0.09,-0.99) r=0.98m +[headless_play] t= 4.80s step= 240 trunk_z= 124.8mm grav_b=(-0.12,+0.11,-0.99) r=0.98m +[headless_play] t= 4.90s step= 245 trunk_z= 118.4mm grav_b=(-0.07,+0.06,-1.00) r=0.96m +[headless_play] t= 5.00s step= 250 trunk_z= 121.1mm grav_b=(-0.05,+0.01,-1.00) r=0.96m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(-0.03,+0.10,-0.99) r=0.97m +[headless_play] t= 5.20s step= 260 trunk_z= 126.9mm grav_b=(+0.02,+0.15,-0.99) r=0.98m +[headless_play] t= 5.30s step= 265 trunk_z= 131.5mm grav_b=(+0.02,+0.11,-0.99) r=1.00m +[headless_play] t= 5.40s step= 270 trunk_z= 123.8mm grav_b=(-0.08,+0.04,-1.00) r=1.02m +[headless_play] t= 5.50s step= 275 trunk_z= 124.5mm grav_b=(-0.12,+0.00,-0.99) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 122.0mm grav_b=(-0.10,+0.02,-1.00) r=1.06m +[headless_play] t= 5.70s step= 285 trunk_z= 124.2mm grav_b=(-0.06,+0.08,-0.99) r=1.07m +[headless_play] t= 5.80s step= 290 trunk_z= 123.7mm grav_b=(-0.07,+0.07,-0.99) r=1.08m +[headless_play] t= 5.90s step= 295 trunk_z= 120.0mm grav_b=(-0.05,-0.00,-1.00) r=1.09m +[headless_play] t= 6.00s step= 300 trunk_z= 125.5mm grav_b=(-0.02,+0.01,-1.00) r=1.11m +[headless_play] t= 6.10s step= 305 trunk_z= 119.2mm grav_b=(-0.01,+0.10,-1.00) r=1.13m +[headless_play] t= 6.20s step= 310 trunk_z= 130.3mm grav_b=(-0.06,+0.15,-0.99) r=1.14m +[headless_play] t= 6.30s step= 315 trunk_z= 132.3mm grav_b=(-0.06,+0.13,-0.99) r=1.16m +[headless_play] t= 6.40s step= 320 trunk_z= 122.0mm grav_b=(-0.10,+0.02,-1.00) r=1.17m +[headless_play] t= 6.50s step= 325 trunk_z= 127.0mm grav_b=(-0.11,-0.06,-0.99) r=1.17m +[headless_play] t= 6.60s step= 330 trunk_z= 126.5mm grav_b=(-0.10,-0.04,-0.99) r=1.17m +[headless_play] t= 6.70s step= 335 trunk_z= 115.6mm grav_b=(-0.01,+0.09,-1.00) r=1.18m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(-0.03,+0.13,-0.99) r=1.18m +[headless_play] t= 6.90s step= 345 trunk_z= 117.9mm grav_b=(+0.00,+0.12,-0.99) r=1.18m +[headless_play] t= 7.00s step= 350 trunk_z= 114.5mm grav_b=(+0.02,+0.03,-1.00) r=1.18m +[headless_play] t= 7.10s step= 355 trunk_z= 119.8mm grav_b=(-0.03,-0.05,-1.00) r=1.18m +[headless_play] t= 7.20s step= 360 trunk_z= 120.3mm grav_b=(-0.04,-0.04,-1.00) r=1.19m +[headless_play] t= 7.30s step= 365 trunk_z= 114.4mm grav_b=(-0.00,+0.05,-1.00) r=1.20m +[headless_play] t= 7.40s step= 370 trunk_z= 117.9mm grav_b=(-0.03,+0.10,-0.99) r=1.22m +[headless_play] t= 7.50s step= 375 trunk_z= 117.4mm grav_b=(+0.01,+0.10,-1.00) r=1.23m +[headless_play] t= 7.60s step= 380 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) r=1.23m +[headless_play] t= 7.70s step= 385 trunk_z= 120.0mm grav_b=(-0.03,-0.05,-1.00) r=1.24m +[headless_play] t= 7.80s step= 390 trunk_z= 116.3mm grav_b=(-0.01,+0.03,-1.00) r=1.26m +[headless_play] t= 7.90s step= 395 trunk_z= 118.4mm grav_b=(-0.02,+0.11,-0.99) r=1.29m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(+0.01,+0.10,-0.99) r=1.30m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(+0.03,+0.05,-1.00) r=1.30m +[headless_play] t= 8.20s step= 410 trunk_z= 119.0mm grav_b=(-0.03,-0.00,-1.00) r=1.31m +[headless_play] t= 8.30s step= 415 trunk_z= 116.3mm grav_b=(-0.04,+0.06,-1.00) r=1.33m +[headless_play] t= 8.40s step= 420 trunk_z= 118.5mm grav_b=(-0.03,+0.10,-0.99) r=1.36m +[headless_play] t= 8.50s step= 425 trunk_z= 117.1mm grav_b=(+0.01,+0.08,-1.00) r=1.37m +[headless_play] t= 8.60s step= 430 trunk_z= 114.2mm grav_b=(+0.03,-0.00,-1.00) r=1.37m +[headless_play] t= 8.70s step= 435 trunk_z= 119.9mm grav_b=(-0.02,-0.05,-1.00) r=1.38m +[headless_play] t= 8.80s step= 440 trunk_z= 114.8mm grav_b=(-0.02,+0.04,-1.00) r=1.41m +[headless_play] t= 8.90s step= 445 trunk_z= 119.3mm grav_b=(-0.02,+0.12,-0.99) r=1.43m +[headless_play] t= 9.00s step= 450 trunk_z= 118.6mm grav_b=(+0.01,+0.11,-0.99) r=1.44m +[headless_play] t= 9.10s step= 455 trunk_z= 114.8mm grav_b=(+0.00,-0.00,-1.00) r=1.44m +[headless_play] t= 9.20s step= 460 trunk_z= 123.0mm grav_b=(-0.07,-0.10,-0.99) r=1.43m +[headless_play] t= 9.30s step= 465 trunk_z= 125.6mm grav_b=(-0.09,-0.04,-1.00) r=1.43m +[headless_play] t= 9.40s step= 470 trunk_z= 116.0mm grav_b=(-0.05,+0.06,-1.00) r=1.44m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(-0.06,+0.12,-0.99) r=1.45m +[headless_play] t= 9.60s step= 480 trunk_z= 119.4mm grav_b=(-0.02,+0.17,-0.99) r=1.45m +[headless_play] t= 9.70s step= 485 trunk_z= 117.2mm grav_b=(-0.01,+0.09,-1.00) r=1.44m +[headless_play] t= 9.80s step= 490 trunk_z= 115.8mm grav_b=(-0.03,-0.02,-1.00) r=1.43m +[headless_play] t= 9.90s step= 495 trunk_z= 118.7mm grav_b=(-0.03,-0.01,-1.00) r=1.44m +[headless_play] t= 10.00s step= 500 trunk_z= 111.8mm grav_b=(+0.02,+0.05,-1.00) r=1.46m +[headless_play] t= 10.10s step= 505 trunk_z= 118.3mm grav_b=(+0.03,+0.12,-0.99) r=1.47m +[headless_play] t= 10.20s step= 510 trunk_z= 120.2mm grav_b=(+0.03,+0.10,-0.99) r=1.48m +[headless_play] t= 10.30s step= 515 trunk_z= 119.7mm grav_b=(-0.06,+0.02,-1.00) r=1.47m +[headless_play] t= 10.40s step= 520 trunk_z= 123.6mm grav_b=(-0.10,-0.03,-0.99) r=1.47m +[headless_play] t= 10.50s step= 525 trunk_z= 118.5mm grav_b=(-0.08,+0.04,-1.00) r=1.49m +[headless_play] t= 10.60s step= 530 trunk_z= 123.3mm grav_b=(-0.08,+0.13,-0.99) r=1.50m +[headless_play] t= 10.70s step= 535 trunk_z= 124.1mm grav_b=(-0.06,+0.13,-0.99) r=1.50m +[headless_play] t= 10.80s step= 540 trunk_z= 120.4mm grav_b=(-0.02,+0.09,-1.00) r=1.49m +[headless_play] t= 10.90s step= 545 trunk_z= 118.9mm grav_b=(-0.02,-0.02,-1.00) r=1.48m +[headless_play] t= 11.00s step= 550 trunk_z= 122.2mm grav_b=(-0.02,-0.07,-1.00) r=1.47m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=1.49m +[headless_play] t= 11.20s step= 560 trunk_z= 120.8mm grav_b=(-0.04,+0.11,-0.99) r=1.51m +[headless_play] t= 11.30s step= 565 trunk_z= 123.7mm grav_b=(-0.04,+0.12,-0.99) r=1.52m +[headless_play] t= 11.40s step= 570 trunk_z= 120.4mm grav_b=(+0.01,+0.09,-1.00) r=1.52m +[headless_play] t= 11.50s step= 575 trunk_z= 120.0mm grav_b=(-0.01,-0.03,-1.00) r=1.52m +[headless_play] t= 11.60s step= 580 trunk_z= 121.0mm grav_b=(-0.01,-0.02,-1.00) r=1.53m +[headless_play] t= 11.70s step= 585 trunk_z= 116.9mm grav_b=(-0.03,+0.09,-1.00) r=1.56m +[headless_play] t= 11.80s step= 590 trunk_z= 125.3mm grav_b=(-0.06,+0.13,-0.99) r=1.58m +[headless_play] t= 11.90s step= 595 trunk_z= 123.2mm grav_b=(-0.00,+0.13,-0.99) r=1.58m +[headless_play] t= 12.00s step= 600 trunk_z= 119.1mm grav_b=(+0.01,+0.02,-1.00) r=1.58m +[headless_play] t= 12.10s step= 605 trunk_z= 123.8mm grav_b=(-0.03,-0.06,-1.00) r=1.58m +[headless_play] t= 12.20s step= 610 trunk_z= 119.8mm grav_b=(-0.02,-0.01,-1.00) r=1.60m +[headless_play] t= 12.30s step= 615 trunk_z= 121.8mm grav_b=(-0.03,+0.11,-0.99) r=1.62m +[headless_play] t= 12.40s step= 620 trunk_z= 125.1mm grav_b=(-0.01,+0.11,-0.99) r=1.63m +[headless_play] t= 12.50s step= 625 trunk_z= 120.3mm grav_b=(-0.03,+0.01,-1.00) r=1.62m +[headless_play] t= 12.60s step= 630 trunk_z= 124.8mm grav_b=(-0.06,-0.04,-1.00) r=1.62m +[headless_play] t= 12.70s step= 635 trunk_z= 121.0mm grav_b=(-0.06,-0.00,-1.00) r=1.64m +[headless_play] t= 12.80s step= 640 trunk_z= 123.3mm grav_b=(-0.03,+0.11,-0.99) r=1.66m +[headless_play] t= 12.90s step= 645 trunk_z= 126.1mm grav_b=(-0.02,+0.12,-0.99) r=1.68m +[headless_play] t= 13.00s step= 650 trunk_z= 123.1mm grav_b=(+0.01,+0.08,-1.00) r=1.67m +[headless_play] t= 13.10s step= 655 trunk_z= 123.2mm grav_b=(-0.04,-0.04,-1.00) r=1.67m +[headless_play] t= 13.20s step= 660 trunk_z= 125.5mm grav_b=(-0.10,-0.04,-0.99) r=1.67m +[headless_play] t= 13.30s step= 665 trunk_z= 118.4mm grav_b=(-0.08,+0.05,-1.00) r=1.69m +[headless_play] t= 13.40s step= 670 trunk_z= 124.3mm grav_b=(-0.05,+0.11,-0.99) r=1.70m +[headless_play] t= 13.50s step= 675 trunk_z= 123.6mm grav_b=(-0.02,+0.10,-0.99) r=1.71m +[headless_play] t= 13.60s step= 680 trunk_z= 118.2mm grav_b=(-0.01,+0.00,-1.00) r=1.70m +[headless_play] t= 13.70s step= 685 trunk_z= 124.6mm grav_b=(-0.06,-0.04,-1.00) r=1.70m +[headless_play] t= 13.80s step= 690 trunk_z= 119.8mm grav_b=(-0.04,+0.02,-1.00) r=1.73m +[headless_play] t= 13.90s step= 695 trunk_z= 125.0mm grav_b=(-0.04,+0.15,-0.99) r=1.75m +[headless_play] t= 14.00s step= 700 trunk_z= 130.7mm grav_b=(+0.00,+0.21,-0.98) r=1.78m +[headless_play] t= 14.10s step= 705 trunk_z= 134.8mm grav_b=(+0.03,+0.22,-0.97) r=1.80m +[headless_play] t= 14.20s step= 710 trunk_z= 137.4mm grav_b=(-0.06,+0.05,-1.00) r=1.84m +[headless_play] t= 14.30s step= 715 trunk_z= 128.4mm grav_b=(-0.04,+0.02,-1.00) r=1.88m +[headless_play] t= 14.40s step= 720 trunk_z= 128.5mm grav_b=(-0.04,-0.01,-1.00) r=1.91m +[headless_play] t= 14.50s step= 725 trunk_z= 120.3mm grav_b=(-0.02,+0.07,-1.00) r=1.93m +[headless_play] t= 14.60s step= 730 trunk_z= 120.8mm grav_b=(+0.00,+0.04,-1.00) r=1.95m +[headless_play] t= 14.70s step= 735 trunk_z= 115.4mm grav_b=(+0.01,-0.04,-1.00) r=1.96m +[headless_play] t= 14.80s step= 740 trunk_z= 119.0mm grav_b=(+0.04,-0.00,-1.00) r=1.97m +[headless_play] t= 14.90s step= 745 trunk_z= 117.3mm grav_b=(+0.05,+0.20,-0.98) r=2.01m +[headless_play] t= 15.00s step= 750 trunk_z= 128.4mm grav_b=(+0.03,+0.21,-0.98) r=2.03m +[headless_play] t= 15.10s step= 755 trunk_z= 131.3mm grav_b=(+0.01,+0.19,-0.98) r=2.05m +[headless_play] t= 15.20s step= 760 trunk_z= 127.1mm grav_b=(-0.02,+0.03,-1.00) r=2.08m +[headless_play] t= 15.30s step= 765 trunk_z= 130.7mm grav_b=(-0.03,-0.05,-1.00) r=2.11m +[headless_play] t= 15.40s step= 770 trunk_z= 128.3mm grav_b=(-0.03,-0.05,-1.00) r=2.13m +[headless_play] t= 15.50s step= 775 trunk_z= 119.3mm grav_b=(-0.03,+0.04,-1.00) r=2.14m +[headless_play] t= 15.60s step= 780 trunk_z= 123.1mm grav_b=(-0.06,+0.04,-1.00) r=2.15m +[headless_play] t= 15.70s step= 785 trunk_z= 118.0mm grav_b=(+0.01,+0.03,-1.00) r=2.15m +[headless_play] t= 15.80s step= 790 trunk_z= 117.2mm grav_b=(+0.01,-0.06,-1.00) r=2.16m +[headless_play] t= 15.90s step= 795 trunk_z= 114.7mm grav_b=(+0.07,+0.03,-1.00) r=2.17m +[headless_play] t= 16.00s step= 800 trunk_z= 120.2mm grav_b=(+0.00,+0.17,-0.98) r=2.17m +[headless_play] t= 16.10s step= 805 trunk_z= 125.9mm grav_b=(+0.05,+0.19,-0.98) r=2.19m +[headless_play] t= 16.20s step= 810 trunk_z= 129.3mm grav_b=(+0.08,+0.22,-0.97) r=2.20m +[headless_play] t= 16.30s step= 815 trunk_z= 120.7mm grav_b=(-0.02,+0.03,-1.00) r=2.23m +[headless_play] t= 16.40s step= 820 trunk_z= 128.5mm grav_b=(-0.00,-0.02,-1.00) r=2.26m +[headless_play] t= 16.50s step= 825 trunk_z= 128.9mm grav_b=(-0.04,-0.01,-1.00) r=2.27m +[headless_play] t= 16.60s step= 830 trunk_z= 120.5mm grav_b=(-0.04,+0.06,-1.00) r=2.27m +[headless_play] t= 16.70s step= 835 trunk_z= 124.3mm grav_b=(-0.02,+0.08,-1.00) r=2.28m +[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=2.30m +[headless_play] t= 16.90s step= 845 trunk_z= 121.7mm grav_b=(-0.00,-0.04,-1.00) r=2.31m +[headless_play] t= 17.00s step= 850 trunk_z= 119.3mm grav_b=(-0.07,+0.02,-1.00) r=2.30m +[headless_play] t= 17.10s step= 855 trunk_z= 119.2mm grav_b=(-0.09,+0.13,-0.99) r=2.29m +[headless_play] t= 17.20s step= 860 trunk_z= 124.7mm grav_b=(-0.07,+0.15,-0.99) r=2.28m +[headless_play] t= 17.30s step= 865 trunk_z= 123.1mm grav_b=(-0.05,+0.12,-0.99) r=2.28m +[headless_play] t= 17.40s step= 870 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00) r=2.30m +[headless_play] t= 17.50s step= 875 trunk_z= 118.8mm grav_b=(+0.03,-0.03,-1.00) r=2.31m +[headless_play] t= 17.60s step= 880 trunk_z= 116.2mm grav_b=(+0.03,+0.05,-1.00) r=2.31m +[headless_play] t= 17.70s step= 885 trunk_z= 122.7mm grav_b=(-0.03,+0.14,-0.99) r=2.31m +[headless_play] t= 17.80s step= 890 trunk_z= 123.0mm grav_b=(+0.02,+0.15,-0.99) r=2.32m +[headless_play] t= 17.90s step= 895 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=2.34m +[headless_play] t= 18.00s step= 900 trunk_z= 124.4mm grav_b=(+0.06,-0.05,-1.00) r=2.37m +[headless_play] t= 18.10s step= 905 trunk_z= 125.6mm grav_b=(+0.05,-0.01,-1.00) r=2.39m +[headless_play] t= 18.20s step= 910 trunk_z= 121.3mm grav_b=(-0.04,+0.10,-0.99) r=2.40m +[headless_play] t= 18.30s step= 915 trunk_z= 128.4mm grav_b=(-0.06,+0.12,-0.99) r=2.41m +[headless_play] t= 18.40s step= 920 trunk_z= 123.4mm grav_b=(-0.03,+0.09,-1.00) r=2.42m +[headless_play] t= 18.50s step= 925 trunk_z= 122.0mm grav_b=(-0.03,+0.02,-1.00) r=2.44m +[headless_play] t= 18.60s step= 930 trunk_z= 119.0mm grav_b=(-0.01,+0.06,-1.00) r=2.45m +[headless_play] t= 18.70s step= 935 trunk_z= 122.4mm grav_b=(-0.08,+0.11,-0.99) r=2.45m +[headless_play] t= 18.80s step= 940 trunk_z= 122.5mm grav_b=(-0.07,+0.08,-0.99) r=2.46m +[headless_play] t= 18.90s step= 945 trunk_z= 116.5mm grav_b=(-0.04,-0.02,-1.00) r=2.47m +[headless_play] t= 19.00s step= 950 trunk_z= 117.4mm grav_b=(+0.02,-0.02,-1.00) r=2.48m +[headless_play] t= 19.10s step= 955 trunk_z= 113.5mm grav_b=(+0.04,+0.10,-0.99) r=2.48m +[headless_play] t= 19.20s step= 960 trunk_z= 125.7mm grav_b=(+0.02,+0.13,-0.99) r=2.49m +[headless_play] t= 19.30s step= 965 trunk_z= 124.6mm grav_b=(+0.01,+0.05,-1.00) r=2.51m +[headless_play] t= 19.40s step= 970 trunk_z= 125.1mm grav_b=(-0.05,-0.07,-1.00) r=2.54m +[headless_play] t= 19.50s step= 975 trunk_z= 123.4mm grav_b=(-0.04,-0.05,-1.00) r=2.56m +[headless_play] t= 19.60s step= 980 trunk_z= 119.4mm grav_b=(-0.01,+0.09,-1.00) r=2.57m +[headless_play] t= 19.70s step= 985 trunk_z= 123.5mm grav_b=(+0.01,+0.11,-0.99) r=2.59m +[headless_play] t= 19.80s step= 990 trunk_z= 119.2mm grav_b=(+0.04,+0.05,-1.00) r=2.60m +[headless_play] t= 19.90s step= 995 trunk_z= 122.7mm grav_b=(-0.01,-0.05,-1.00) r=2.62m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.5mm grav_b=(-0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(-0.00,+0.04,-1.00) r=0.23m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..bb252e28acabf575fef697fd3e38407860cfd700 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.316,+0.098,+0.125) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.01,+0.01,-1.00) r=0.33m +[headless_play] t= 0.20s step= 10 trunk_z= 118.5mm grav_b=(-0.00,+0.00,-1.00) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(+0.01,-0.01,-1.00) r=0.33m +[headless_play] t= 0.40s step= 20 trunk_z= 120.2mm grav_b=(+0.03,-0.00,-1.00) r=0.32m +[headless_play] t= 0.50s step= 25 trunk_z= 121.8mm grav_b=(+0.07,+0.02,-1.00) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 121.9mm grav_b=(-0.01,+0.10,-1.00) r=0.30m +[headless_play] t= 0.70s step= 35 trunk_z= 122.0mm grav_b=(+0.06,+0.17,-0.98) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 133.7mm grav_b=(+0.05,+0.11,-0.99) r=0.24m +[headless_play] t= 0.90s step= 45 trunk_z= 135.1mm grav_b=(-0.02,+0.07,-1.00) r=0.21m +[headless_play] t= 1.00s step= 50 trunk_z= 119.3mm grav_b=(-0.06,+0.02,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 128.4mm grav_b=(-0.05,-0.04,-1.00) r=0.14m +[headless_play] t= 1.20s step= 60 trunk_z= 123.3mm grav_b=(-0.05,-0.02,-1.00) r=0.12m +[headless_play] t= 1.30s step= 65 trunk_z= 124.3mm grav_b=(-0.03,+0.07,-1.00) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 126.6mm grav_b=(+0.03,+0.05,-1.00) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 119.8mm grav_b=(-0.01,-0.03,-1.00) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 133.9mm grav_b=(+0.06,-0.14,-0.99) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 134.4mm grav_b=(+0.15,-0.23,-0.96) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 104.5mm grav_b=(+0.14,-0.13,-0.98) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 124.8mm grav_b=(+0.18,+0.09,-0.98) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 129.8mm grav_b=(+0.00,+0.09,-1.00) r=0.12m +[headless_play] t= 2.10s step= 105 trunk_z= 119.7mm grav_b=(-0.05,-0.02,-1.00) r=0.14m +[headless_play] t= 2.20s step= 110 trunk_z= 123.0mm grav_b=(-0.06,+0.02,-1.00) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 118.7mm grav_b=(-0.02,+0.09,-1.00) r=0.16m +[headless_play] t= 2.40s step= 120 trunk_z= 127.5mm grav_b=(+0.02,+0.12,-0.99) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 129.2mm grav_b=(+0.03,+0.08,-1.00) r=0.19m +[headless_play] t= 2.60s step= 130 trunk_z= 119.2mm grav_b=(-0.03,-0.02,-1.00) r=0.21m +[headless_play] t= 2.70s step= 135 trunk_z= 124.9mm grav_b=(-0.05,-0.01,-1.00) r=0.22m +[headless_play] t= 2.80s step= 140 trunk_z= 122.3mm grav_b=(-0.06,+0.00,-1.00) r=0.23m +[headless_play] t= 2.90s step= 145 trunk_z= 123.9mm grav_b=(-0.01,+0.09,-1.00) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 127.8mm grav_b=(+0.06,+0.04,-1.00) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 118.7mm grav_b=(-0.01,-0.06,-1.00) r=0.30m +[headless_play] t= 3.20s step= 160 trunk_z= 127.5mm grav_b=(-0.02,-0.05,-1.00) r=0.32m +[headless_play] t= 3.30s step= 165 trunk_z= 128.3mm grav_b=(-0.08,-0.05,-1.00) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 120.6mm grav_b=(-0.06,+0.07,-1.00) r=0.37m +[headless_play] t= 3.50s step= 175 trunk_z= 125.9mm grav_b=(-0.01,+0.06,-1.00) r=0.38m +[headless_play] t= 3.60s step= 180 trunk_z= 120.0mm grav_b=(-0.00,-0.05,-1.00) r=0.38m +[headless_play] t= 3.70s step= 185 trunk_z= 126.2mm grav_b=(+0.01,-0.06,-1.00) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 127.7mm grav_b=(-0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 119.1mm grav_b=(-0.05,+0.08,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 127.4mm grav_b=(+0.00,+0.09,-1.00) r=0.47m +[headless_play] t= 4.10s step= 205 trunk_z= 128.5mm grav_b=(+0.00,+0.03,-1.00) r=0.47m +[headless_play] t= 4.20s step= 210 trunk_z= 119.7mm grav_b=(-0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 4.30s step= 215 trunk_z= 125.1mm grav_b=(-0.02,-0.00,-1.00) r=0.48m +[headless_play] t= 4.40s step= 220 trunk_z= 124.7mm grav_b=(-0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 121.2mm grav_b=(-0.05,+0.08,-1.00) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 122.4mm grav_b=(-0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 118.4mm grav_b=(+0.00,-0.08,-1.00) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 118.7mm grav_b=(+0.01,-0.06,-1.00) r=0.53m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.05,+0.02,-1.00) r=0.55m +[headless_play] t= 5.00s step= 250 trunk_z= 116.6mm grav_b=(+0.06,+0.11,-0.99) r=0.57m +[headless_play] t= 5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.10,+0.07,-0.99) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 115.4mm grav_b=(+0.03,-0.07,-1.00) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 120.0mm grav_b=(-0.07,-0.01,-1.00) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 111.4mm grav_b=(+0.01,+0.12,-0.99) r=0.58m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(+0.04,+0.15,-0.99) r=0.58m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(+0.09,+0.10,-0.99) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 115.1mm grav_b=(+0.06,-0.06,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 118.1mm grav_b=(+0.06,-0.05,-1.00) r=0.58m +[headless_play] t= 5.90s step= 295 trunk_z= 115.4mm grav_b=(+0.05,+0.06,-1.00) r=0.59m +[headless_play] t= 6.00s step= 300 trunk_z= 120.0mm grav_b=(-0.01,+0.08,-1.00) r=0.60m +[headless_play] t= 6.10s step= 305 trunk_z= 118.3mm grav_b=(+0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 6.20s step= 310 trunk_z= 114.6mm grav_b=(+0.04,-0.09,-1.00) r=0.59m +[headless_play] t= 6.30s step= 315 trunk_z= 114.4mm grav_b=(+0.08,-0.10,-0.99) r=0.59m +[headless_play] t= 6.40s step= 320 trunk_z= 112.6mm grav_b=(+0.10,-0.01,-0.99) r=0.61m +[headless_play] t= 6.50s step= 325 trunk_z= 120.4mm grav_b=(+0.05,+0.20,-0.98) r=0.64m +[headless_play] t= 6.60s step= 330 trunk_z= 124.6mm grav_b=(+0.06,+0.29,-0.96) r=0.66m +[headless_play] t= 6.70s step= 335 trunk_z= 124.7mm grav_b=(+0.13,+0.35,-0.93) r=0.68m +[headless_play] t= 6.80s step= 340 trunk_z= 136.4mm grav_b=(+0.03,+0.24,-0.97) r=0.71m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(-0.03,+0.31,-0.95) r=0.77m +[headless_play] t= 7.00s step= 350 trunk_z= 110.2mm grav_b=(+0.10,+0.32,-0.94) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 122.0mm grav_b=(+0.27,+0.17,-0.95) r=0.86m +[headless_play] t= 7.20s step= 360 trunk_z= 103.5mm grav_b=(-0.04,+0.09,-0.99) r=0.89m +[headless_play] t= 7.30s step= 365 trunk_z= 99.9mm grav_b=(-0.08,-0.02,-1.00) r=0.92m +[headless_play] t= 7.40s step= 370 trunk_z= 108.9mm grav_b=(-0.12,-0.01,-0.99) r=0.92m +[headless_play] t= 7.50s step= 375 trunk_z= 112.7mm grav_b=(+0.03,+0.17,-0.98) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 119.4mm grav_b=(+0.09,+0.17,-0.98) r=0.91m +[headless_play] t= 7.70s step= 385 trunk_z= 116.0mm grav_b=(+0.11,+0.00,-0.99) r=0.93m +[headless_play] t= 7.80s step= 390 trunk_z= 124.0mm grav_b=(+0.07,-0.06,-1.00) r=0.94m +[headless_play] t= 7.90s step= 395 trunk_z= 117.2mm grav_b=(+0.04,+0.09,-1.00) r=0.95m +[headless_play] t= 8.00s step= 400 trunk_z= 128.6mm grav_b=(+0.05,+0.18,-0.98) r=0.95m +[headless_play] t= 8.10s step= 405 trunk_z= 129.0mm grav_b=(+0.06,+0.16,-0.99) r=0.96m +[headless_play] t= 8.20s step= 410 trunk_z= 126.3mm grav_b=(+0.05,+0.08,-1.00) r=0.97m +[headless_play] t= 8.30s step= 415 trunk_z= 122.3mm grav_b=(-0.02,-0.08,-1.00) r=1.00m +[headless_play] t= 8.40s step= 420 trunk_z= 127.2mm grav_b=(-0.02,-0.10,-0.99) r=1.02m +[headless_play] t= 8.50s step= 425 trunk_z= 127.2mm grav_b=(+0.17,-0.10,-0.98) r=1.04m +[headless_play] t= 8.60s step= 430 trunk_z= 122.1mm grav_b=(+0.08,+0.01,-1.00) r=1.06m +[headless_play] t= 8.70s step= 435 trunk_z= 123.1mm grav_b=(+0.05,+0.06,-1.00) r=1.07m +[headless_play] t= 8.80s step= 440 trunk_z= 124.4mm grav_b=(+0.01,+0.00,-1.00) r=1.09m +[headless_play] t= 8.90s step= 445 trunk_z= 121.0mm grav_b=(-0.01,-0.05,-1.00) r=1.10m +[headless_play] t= 9.00s step= 450 trunk_z= 122.8mm grav_b=(+0.00,-0.03,-1.00) r=1.11m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(+0.02,+0.08,-1.00) r=1.12m +[headless_play] t= 9.20s step= 460 trunk_z= 124.2mm grav_b=(+0.02,+0.12,-0.99) r=1.12m +[headless_play] t= 9.30s step= 465 trunk_z= 119.8mm grav_b=(+0.04,+0.04,-1.00) r=1.13m +[headless_play] t= 9.40s step= 470 trunk_z= 120.4mm grav_b=(+0.01,-0.09,-1.00) r=1.15m +[headless_play] t= 9.50s step= 475 trunk_z= 123.9mm grav_b=(+0.04,-0.08,-1.00) r=1.16m +[headless_play] t= 9.60s step= 480 trunk_z= 121.0mm grav_b=(+0.04,-0.02,-1.00) r=1.17m +[headless_play] t= 9.70s step= 485 trunk_z= 123.6mm grav_b=(+0.02,+0.11,-0.99) r=1.18m +[headless_play] t= 9.80s step= 490 trunk_z= 123.9mm grav_b=(+0.05,+0.09,-0.99) r=1.19m +[headless_play] t= 9.90s step= 495 trunk_z= 116.5mm grav_b=(+0.05,-0.00,-1.00) r=1.20m +[headless_play] t= 10.00s step= 500 trunk_z= 124.1mm grav_b=(+0.07,-0.05,-1.00) r=1.22m +[headless_play] t= 10.10s step= 505 trunk_z= 122.4mm grav_b=(+0.06,-0.01,-1.00) r=1.23m +[headless_play] t= 10.20s step= 510 trunk_z= 123.6mm grav_b=(+0.03,+0.09,-0.99) r=1.25m +[headless_play] t= 10.30s step= 515 trunk_z= 124.3mm grav_b=(+0.05,+0.08,-1.00) r=1.26m +[headless_play] t= 10.40s step= 520 trunk_z= 117.1mm grav_b=(+0.02,-0.03,-1.00) r=1.27m +[headless_play] t= 10.50s step= 525 trunk_z= 122.9mm grav_b=(+0.02,-0.05,-1.00) r=1.28m +[headless_play] t= 10.60s step= 530 trunk_z= 124.2mm grav_b=(+0.05,-0.06,-1.00) r=1.30m +[headless_play] t= 10.70s step= 535 trunk_z= 120.2mm grav_b=(+0.06,+0.02,-1.00) r=1.32m +[headless_play] t= 10.80s step= 540 trunk_z= 125.5mm grav_b=(+0.05,+0.07,-1.00) r=1.34m +[headless_play] t= 10.90s step= 545 trunk_z= 123.2mm grav_b=(+0.04,+0.02,-1.00) r=1.35m +[headless_play] t= 11.00s step= 550 trunk_z= 122.8mm grav_b=(+0.01,-0.07,-1.00) r=1.37m +[headless_play] t= 11.10s step= 555 trunk_z= 122.5mm grav_b=(+0.05,-0.03,-1.00) r=1.38m +[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(+0.02,+0.08,-1.00) r=1.40m +[headless_play] t= 11.30s step= 565 trunk_z= 125.2mm grav_b=(+0.02,+0.11,-0.99) r=1.41m +[headless_play] t= 11.40s step= 570 trunk_z= 121.2mm grav_b=(+0.05,+0.04,-1.00) r=1.42m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(-0.02,+0.01,-1.00) r=1.42m +[headless_play] t= 11.60s step= 580 trunk_z= 116.7mm grav_b=(-0.03,+0.15,-0.99) r=1.43m +[headless_play] t= 11.70s step= 585 trunk_z= 122.0mm grav_b=(+0.08,+0.12,-0.99) r=1.44m +[headless_play] t= 11.80s step= 590 trunk_z= 119.3mm grav_b=(+0.10,+0.04,-0.99) r=1.45m +[headless_play] t= 11.90s step= 595 trunk_z= 122.7mm grav_b=(+0.06,-0.08,-1.00) r=1.47m +[headless_play] t= 12.00s step= 600 trunk_z= 122.5mm grav_b=(+0.02,-0.07,-1.00) r=1.49m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(+0.00,+0.06,-1.00) r=1.51m +[headless_play] t= 12.20s step= 610 trunk_z= 124.7mm grav_b=(-0.00,+0.09,-1.00) r=1.53m +[headless_play] t= 12.30s step= 615 trunk_z= 121.4mm grav_b=(+0.04,+0.03,-1.00) r=1.53m +[headless_play] t= 12.40s step= 620 trunk_z= 119.1mm grav_b=(+0.02,-0.04,-1.00) r=1.54m +[headless_play] t= 12.50s step= 625 trunk_z= 117.4mm grav_b=(+0.01,+0.11,-0.99) r=1.57m +[headless_play] t= 12.60s step= 630 trunk_z= 126.3mm grav_b=(+0.05,+0.12,-0.99) r=1.59m +[headless_play] t= 12.70s step= 635 trunk_z= 123.5mm grav_b=(+0.06,+0.05,-1.00) r=1.60m +[headless_play] t= 12.80s step= 640 trunk_z= 121.7mm grav_b=(+0.05,-0.06,-1.00) r=1.61m +[headless_play] t= 12.90s step= 645 trunk_z= 122.5mm grav_b=(+0.05,-0.04,-1.00) r=1.62m +[headless_play] t= 13.00s step= 650 trunk_z= 119.5mm grav_b=(+0.00,+0.06,-1.00) r=1.65m +[headless_play] t= 13.10s step= 655 trunk_z= 124.3mm grav_b=(+0.02,+0.08,-1.00) r=1.67m +[headless_play] t= 13.20s step= 660 trunk_z= 119.7mm grav_b=(+0.03,-0.00,-1.00) r=1.67m +[headless_play] t= 13.30s step= 665 trunk_z= 123.1mm grav_b=(+0.02,-0.07,-1.00) r=1.67m +[headless_play] t= 13.40s step= 670 trunk_z= 126.9mm grav_b=(-0.05,-0.13,-0.99) r=1.66m +[headless_play] t= 13.50s step= 675 trunk_z= 124.1mm grav_b=(+0.01,-0.06,-1.00) r=1.67m +[headless_play] t= 13.60s step= 680 trunk_z= 119.8mm grav_b=(+0.01,+0.07,-1.00) r=1.69m +[headless_play] t= 13.70s step= 685 trunk_z= 122.9mm grav_b=(+0.08,+0.08,-0.99) r=1.70m +[headless_play] t= 13.80s step= 690 trunk_z= 118.3mm grav_b=(+0.06,-0.02,-1.00) r=1.70m +[headless_play] t= 13.90s step= 695 trunk_z= 122.0mm grav_b=(+0.08,-0.06,-0.99) r=1.71m +[headless_play] t= 14.00s step= 700 trunk_z= 120.9mm grav_b=(+0.04,-0.00,-1.00) r=1.73m +[headless_play] t= 14.10s step= 705 trunk_z= 123.8mm grav_b=(+0.01,+0.11,-0.99) r=1.76m +[headless_play] t= 14.20s step= 710 trunk_z= 126.0mm grav_b=(+0.04,+0.08,-1.00) r=1.77m +[headless_play] t= 14.30s step= 715 trunk_z= 125.5mm grav_b=(+0.00,+0.08,-1.00) r=1.77m +[headless_play] t= 14.40s step= 720 trunk_z= 118.7mm grav_b=(-0.01,-0.02,-1.00) r=1.76m +[headless_play] t= 14.50s step= 725 trunk_z= 121.3mm grav_b=(-0.00,-0.02,-1.00) r=1.76m +[headless_play] t= 14.60s step= 730 trunk_z= 116.4mm grav_b=(-0.00,+0.09,-1.00) r=1.78m +[headless_play] t= 14.70s step= 735 trunk_z= 123.0mm grav_b=(+0.04,+0.13,-0.99) r=1.80m +[headless_play] t= 14.80s step= 740 trunk_z= 122.4mm grav_b=(+0.09,+0.07,-0.99) r=1.80m +[headless_play] t= 14.90s step= 745 trunk_z= 120.0mm grav_b=(+0.07,-0.06,-1.00) r=1.79m +[headless_play] t= 15.00s step= 750 trunk_z= 119.9mm grav_b=(-0.03,-0.02,-1.00) r=1.80m +[headless_play] t= 15.10s step= 755 trunk_z= 121.1mm grav_b=(-0.08,+0.13,-0.99) r=1.82m +[headless_play] t= 15.20s step= 760 trunk_z= 125.3mm grav_b=(-0.03,+0.11,-0.99) r=1.82m +[headless_play] t= 15.30s step= 765 trunk_z= 121.1mm grav_b=(+0.01,+0.01,-1.00) r=1.81m +[headless_play] t= 15.40s step= 770 trunk_z= 120.2mm grav_b=(+0.04,-0.07,-1.00) r=1.80m +[headless_play] t= 15.50s step= 775 trunk_z= 120.2mm grav_b=(+0.09,-0.05,-0.99) r=1.81m +[headless_play] t= 15.60s step= 780 trunk_z= 118.5mm grav_b=(+0.02,+0.09,-1.00) r=1.83m +[headless_play] t= 15.70s step= 785 trunk_z= 128.3mm grav_b=(+0.01,+0.11,-0.99) r=1.84m +[headless_play] t= 15.80s step= 790 trunk_z= 130.6mm grav_b=(+0.07,+0.15,-0.99) r=1.87m +[headless_play] t= 15.90s step= 795 trunk_z= 129.3mm grav_b=(+0.05,+0.09,-0.99) r=1.88m +[headless_play] t= 16.00s step= 800 trunk_z= 124.4mm grav_b=(-0.01,-0.04,-1.00) r=1.89m +[headless_play] t= 16.10s step= 805 trunk_z= 128.8mm grav_b=(-0.04,-0.09,-1.00) r=1.90m +[headless_play] t= 16.20s step= 810 trunk_z= 122.5mm grav_b=(+0.00,-0.04,-1.00) r=1.92m +[headless_play] t= 16.30s step= 815 trunk_z= 119.0mm grav_b=(+0.05,+0.09,-1.00) r=1.94m +[headless_play] t= 16.40s step= 820 trunk_z= 119.0mm grav_b=(+0.08,+0.09,-0.99) r=1.95m +[headless_play] t= 16.50s step= 825 trunk_z= 114.2mm grav_b=(+0.05,-0.05,-1.00) r=1.95m +[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(+0.02,-0.08,-1.00) r=1.96m +[headless_play] t= 16.70s step= 835 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=1.98m +[headless_play] t= 16.80s step= 840 trunk_z= 121.1mm grav_b=(+0.06,+0.16,-0.99) r=2.01m +[headless_play] t= 16.90s step= 845 trunk_z= 122.5mm grav_b=(+0.07,+0.13,-0.99) r=2.02m +[headless_play] t= 17.00s step= 850 trunk_z= 117.3mm grav_b=(+0.08,+0.03,-1.00) r=2.03m +[headless_play] t= 17.10s step= 855 trunk_z= 121.2mm grav_b=(+0.03,-0.06,-1.00) r=2.03m +[headless_play] t= 17.20s step= 860 trunk_z= 118.0mm grav_b=(+0.05,-0.02,-1.00) r=2.05m +[headless_play] t= 17.30s step= 865 trunk_z= 116.8mm grav_b=(+0.08,+0.12,-0.99) r=2.07m +[headless_play] t= 17.40s step= 870 trunk_z= 121.7mm grav_b=(+0.09,+0.10,-0.99) r=2.08m +[headless_play] t= 17.50s step= 875 trunk_z= 116.3mm grav_b=(+0.07,-0.03,-1.00) r=2.09m +[headless_play] t= 17.60s step= 880 trunk_z= 121.2mm grav_b=(+0.04,-0.08,-1.00) r=2.09m +[headless_play] t= 17.70s step= 885 trunk_z= 117.1mm grav_b=(+0.02,-0.02,-1.00) r=2.11m +[headless_play] t= 17.80s step= 890 trunk_z= 118.7mm grav_b=(+0.03,+0.12,-0.99) r=2.13m +[headless_play] t= 17.90s step= 895 trunk_z= 120.7mm grav_b=(+0.04,+0.09,-0.99) r=2.14m +[headless_play] t= 18.00s step= 900 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00) r=2.13m +[headless_play] t= 18.10s step= 905 trunk_z= 119.0mm grav_b=(+0.01,-0.05,-1.00) r=2.14m +[headless_play] t= 18.20s step= 910 trunk_z= 114.7mm grav_b=(+0.03,+0.11,-0.99) r=2.16m +[headless_play] t= 18.30s step= 915 trunk_z= 123.4mm grav_b=(+0.07,+0.14,-0.99) r=2.18m +[headless_play] t= 18.40s step= 920 trunk_z= 124.4mm grav_b=(+0.09,+0.10,-0.99) r=2.19m +[headless_play] t= 18.50s step= 925 trunk_z= 120.5mm grav_b=(+0.04,-0.05,-1.00) r=2.19m +[headless_play] t= 18.60s step= 930 trunk_z= 128.6mm grav_b=(+0.01,-0.13,-0.99) r=2.19m +[headless_play] t= 18.70s step= 935 trunk_z= 125.9mm grav_b=(+0.05,-0.07,-1.00) r=2.22m +[headless_play] t= 18.80s step= 940 trunk_z= 122.4mm grav_b=(+0.04,+0.08,-1.00) r=2.25m +[headless_play] t= 18.90s step= 945 trunk_z= 129.4mm grav_b=(+0.05,+0.09,-0.99) r=2.27m +[headless_play] t= 19.00s step= 950 trunk_z= 126.5mm grav_b=(+0.02,+0.03,-1.00) r=2.28m +[headless_play] t= 19.10s step= 955 trunk_z= 124.4mm grav_b=(-0.02,-0.10,-0.99) r=2.29m +[headless_play] t= 19.20s step= 960 trunk_z= 119.3mm grav_b=(-0.02,-0.01,-1.00) r=2.31m +[headless_play] t= 19.30s step= 965 trunk_z= 121.7mm grav_b=(+0.03,+0.12,-0.99) r=2.33m +[headless_play] t= 19.40s step= 970 trunk_z= 122.4mm grav_b=(+0.07,+0.12,-0.99) r=2.34m +[headless_play] t= 19.50s step= 975 trunk_z= 119.5mm grav_b=(+0.07,+0.02,-1.00) r=2.34m +[headless_play] t= 19.60s step= 980 trunk_z= 124.2mm grav_b=(+0.03,-0.09,-1.00) r=2.34m +[headless_play] t= 19.70s step= 985 trunk_z= 124.7mm grav_b=(-0.04,-0.10,-0.99) r=2.34m +[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00) r=2.35m +[headless_play] t= 19.90s step= 995 trunk_z= 120.4mm grav_b=(-0.01,+0.06,-1.00) r=2.37m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.1mm grav_b=(-0.01,-0.00,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.01,+0.02,-1.00) r=0.52m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..959f9540b167727789b03678ac6a78704ff26a6a --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.086,-0.488,+0.130) +[headless_play] t= 0.00s step= 0 trunk_z= 127.3mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.07,+0.02,-1.00) r=0.51m +[headless_play] t= 0.30s step= 15 trunk_z= 119.1mm grav_b=(+0.07,-0.08,-0.99) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(+0.05,-0.05,-1.00) r=0.53m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(+0.05,+0.12,-0.99) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 124.3mm grav_b=(+0.07,+0.14,-0.99) r=0.57m +[headless_play] t= 0.70s step= 35 trunk_z= 123.8mm grav_b=(+0.11,+0.12,-0.99) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 119.3mm grav_b=(+0.08,-0.01,-1.00) r=0.60m +[headless_play] t= 0.90s step= 45 trunk_z= 122.6mm grav_b=(+0.02,+0.03,-1.00) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 120.5mm grav_b=(+0.04,+0.11,-0.99) r=0.66m +[headless_play] t= 1.10s step= 55 trunk_z= 123.8mm grav_b=(+0.08,+0.14,-0.99) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 121.6mm grav_b=(+0.11,+0.09,-0.99) r=0.70m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(+0.08,-0.04,-1.00) r=0.71m +[headless_play] t= 1.40s step= 70 trunk_z= 121.9mm grav_b=(+0.03,-0.02,-1.00) r=0.73m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(+0.07,+0.07,-1.00) r=0.76m +[headless_play] t= 1.60s step= 80 trunk_z= 122.2mm grav_b=(+0.06,+0.13,-0.99) r=0.77m +[headless_play] t= 1.70s step= 85 trunk_z= 120.4mm grav_b=(+0.10,+0.09,-0.99) r=0.78m +[headless_play] t= 1.80s step= 90 trunk_z= 117.9mm grav_b=(+0.06,-0.01,-1.00) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 117.7mm grav_b=(+0.03,+0.04,-1.00) r=0.80m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(+0.05,+0.11,-0.99) r=0.82m +[headless_play] t= 2.10s step= 105 trunk_z= 117.3mm grav_b=(+0.09,+0.11,-0.99) r=0.83m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(+0.10,-0.00,-0.99) r=0.83m +[headless_play] t= 2.30s step= 115 trunk_z= 119.4mm grav_b=(+0.11,-0.06,-0.99) r=0.84m +[headless_play] t= 2.40s step= 120 trunk_z= 118.5mm grav_b=(+0.10,-0.01,-0.99) r=0.85m +[headless_play] t= 2.50s step= 125 trunk_z= 120.4mm grav_b=(+0.08,+0.10,-0.99) r=0.88m +[headless_play] t= 2.60s step= 130 trunk_z= 122.0mm grav_b=(+0.07,+0.09,-0.99) r=0.90m +[headless_play] t= 2.70s step= 135 trunk_z= 117.0mm grav_b=(+0.10,-0.02,-1.00) r=0.90m +[headless_play] t= 2.80s step= 140 trunk_z= 121.2mm grav_b=(+0.10,-0.04,-0.99) r=0.92m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.06,+0.05,-1.00) r=0.95m +[headless_play] t= 3.00s step= 150 trunk_z= 124.7mm grav_b=(+0.07,+0.10,-0.99) r=0.97m +[headless_play] t= 3.10s step= 155 trunk_z= 121.0mm grav_b=(+0.10,+0.05,-0.99) r=0.99m +[headless_play] t= 3.20s step= 160 trunk_z= 122.2mm grav_b=(+0.09,-0.05,-0.99) r=1.00m +[headless_play] t= 3.30s step= 165 trunk_z= 121.4mm grav_b=(+0.07,-0.00,-1.00) r=1.03m +[headless_play] t= 3.40s step= 170 trunk_z= 124.0mm grav_b=(+0.11,+0.16,-0.98) r=1.07m +[headless_play] t= 3.50s step= 175 trunk_z= 130.2mm grav_b=(+0.10,+0.15,-0.98) r=1.10m +[headless_play] t= 3.60s step= 180 trunk_z= 130.4mm grav_b=(+0.07,+0.11,-0.99) r=1.12m +[headless_play] t= 3.70s step= 185 trunk_z= 125.0mm grav_b=(+0.04,-0.05,-1.00) r=1.15m +[headless_play] t= 3.80s step= 190 trunk_z= 132.0mm grav_b=(-0.00,-0.07,-1.00) r=1.17m +[headless_play] t= 3.90s step= 195 trunk_z= 126.3mm grav_b=(-0.00,-0.05,-1.00) r=1.21m +[headless_play] t= 4.00s step= 200 trunk_z= 128.4mm grav_b=(+0.09,+0.14,-0.99) r=1.26m +[headless_play] t= 4.10s step= 205 trunk_z= 131.9mm grav_b=(+0.09,+0.13,-0.99) r=1.29m +[headless_play] t= 4.20s step= 210 trunk_z= 132.7mm grav_b=(+0.07,+0.10,-0.99) r=1.32m +[headless_play] t= 4.30s step= 215 trunk_z= 122.0mm grav_b=(-0.01,-0.05,-1.00) r=1.36m +[headless_play] t= 4.40s step= 220 trunk_z= 130.9mm grav_b=(-0.02,-0.08,-1.00) r=1.39m +[headless_play] t= 4.50s step= 225 trunk_z= 120.0mm grav_b=(+0.05,-0.06,-1.00) r=1.42m +[headless_play] t= 4.60s step= 230 trunk_z= 117.3mm grav_b=(+0.12,+0.05,-0.99) r=1.45m +[headless_play] t= 4.70s step= 235 trunk_z= 118.4mm grav_b=(+0.12,+0.06,-0.99) r=1.45m +[headless_play] t= 4.80s step= 240 trunk_z= 118.1mm grav_b=(+0.08,-0.05,-1.00) r=1.47m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(+0.02,-0.04,-1.00) r=1.48m +[headless_play] t= 5.00s step= 250 trunk_z= 117.5mm grav_b=(+0.03,+0.08,-1.00) r=1.51m +[headless_play] t= 5.10s step= 255 trunk_z= 120.1mm grav_b=(+0.05,+0.09,-1.00) r=1.53m +[headless_play] t= 5.20s step= 260 trunk_z= 116.4mm grav_b=(+0.11,+0.03,-0.99) r=1.54m +[headless_play] t= 5.30s step= 265 trunk_z= 119.9mm grav_b=(+0.08,-0.08,-0.99) r=1.55m +[headless_play] t= 5.40s step= 270 trunk_z= 119.3mm grav_b=(+0.07,-0.07,-1.00) r=1.57m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(+0.05,+0.07,-1.00) r=1.59m +[headless_play] t= 5.60s step= 280 trunk_z= 119.0mm grav_b=(+0.09,+0.07,-0.99) r=1.61m +[headless_play] t= 5.70s step= 285 trunk_z= 116.4mm grav_b=(+0.07,+0.01,-1.00) r=1.61m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(+0.03,-0.10,-0.99) r=1.61m +[headless_play] t= 5.90s step= 295 trunk_z= 119.7mm grav_b=(+0.05,-0.09,-0.99) r=1.63m +[headless_play] t= 6.00s step= 300 trunk_z= 115.3mm grav_b=(+0.06,+0.06,-1.00) r=1.65m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(+0.06,+0.11,-0.99) r=1.67m +[headless_play] t= 6.20s step= 310 trunk_z= 121.9mm grav_b=(+0.10,+0.09,-0.99) r=1.68m +[headless_play] t= 6.30s step= 315 trunk_z= 117.2mm grav_b=(+0.11,-0.03,-0.99) r=1.69m +[headless_play] t= 6.40s step= 320 trunk_z= 124.1mm grav_b=(+0.05,-0.06,-1.00) r=1.70m +[headless_play] t= 6.50s step= 325 trunk_z= 119.2mm grav_b=(+0.04,+0.01,-1.00) r=1.72m +[headless_play] t= 6.60s step= 330 trunk_z= 120.2mm grav_b=(+0.07,+0.10,-0.99) r=1.75m +[headless_play] t= 6.70s step= 335 trunk_z= 121.5mm grav_b=(+0.09,+0.10,-0.99) r=1.75m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(+0.10,-0.01,-0.99) r=1.75m +[headless_play] t= 6.90s step= 345 trunk_z= 123.5mm grav_b=(+0.08,-0.08,-0.99) r=1.75m +[headless_play] t= 7.00s step= 350 trunk_z= 121.4mm grav_b=(+0.06,-0.06,-1.00) r=1.77m +[headless_play] t= 7.10s step= 355 trunk_z= 119.5mm grav_b=(+0.06,+0.06,-1.00) r=1.80m +[headless_play] t= 7.20s step= 360 trunk_z= 119.7mm grav_b=(+0.10,+0.05,-0.99) r=1.80m +[headless_play] t= 7.30s step= 365 trunk_z= 116.0mm grav_b=(+0.15,-0.04,-0.99) r=1.81m +[headless_play] t= 7.40s step= 370 trunk_z= 119.0mm grav_b=(+0.10,+0.04,-0.99) r=1.83m +[headless_play] t= 7.50s step= 375 trunk_z= 125.9mm grav_b=(+0.07,+0.04,-1.00) r=1.85m +[headless_play] t= 7.60s step= 380 trunk_z= 126.5mm grav_b=(+0.05,-0.01,-1.00) r=1.86m +[headless_play] t= 7.70s step= 385 trunk_z= 126.5mm grav_b=(+0.05,-0.09,-0.99) r=1.86m +[headless_play] t= 7.80s step= 390 trunk_z= 126.2mm grav_b=(+0.03,-0.07,-1.00) r=1.88m +[headless_play] t= 7.90s step= 395 trunk_z= 123.4mm grav_b=(+0.06,+0.04,-1.00) r=1.90m +[headless_play] t= 8.00s step= 400 trunk_z= 125.2mm grav_b=(+0.07,+0.06,-1.00) r=1.91m +[headless_play] t= 8.10s step= 405 trunk_z= 118.8mm grav_b=(+0.05,-0.01,-1.00) r=1.92m +[headless_play] t= 8.20s step= 410 trunk_z= 118.2mm grav_b=(+0.05,+0.01,-1.00) r=1.93m +[headless_play] t= 8.30s step= 415 trunk_z= 117.1mm grav_b=(+0.04,+0.11,-0.99) r=1.95m +[headless_play] t= 8.40s step= 420 trunk_z= 119.9mm grav_b=(+0.08,+0.09,-0.99) r=1.96m +[headless_play] t= 8.50s step= 425 trunk_z= 118.9mm grav_b=(+0.11,+0.03,-0.99) r=1.96m +[headless_play] t= 8.60s step= 430 trunk_z= 121.1mm grav_b=(+0.08,-0.10,-0.99) r=1.95m +[headless_play] t= 8.70s step= 435 trunk_z= 120.8mm grav_b=(+0.07,-0.05,-1.00) r=1.96m +[headless_play] t= 8.80s step= 440 trunk_z= 118.2mm grav_b=(+0.01,+0.05,-1.00) r=1.98m +[headless_play] t= 8.90s step= 445 trunk_z= 120.7mm grav_b=(+0.00,-0.01,-1.00) r=1.97m +[headless_play] t= 9.00s step= 450 trunk_z= 113.5mm grav_b=(+0.07,-0.11,-0.99) r=1.96m +[headless_play] t= 9.10s step= 455 trunk_z= 113.4mm grav_b=(+0.12,-0.10,-0.99) r=1.96m +[headless_play] t= 9.20s step= 460 trunk_z= 113.2mm grav_b=(+0.07,+0.02,-1.00) r=1.98m +[headless_play] t= 9.30s step= 465 trunk_z= 121.6mm grav_b=(+0.09,+0.07,-0.99) r=2.00m +[headless_play] t= 9.40s step= 470 trunk_z= 122.3mm grav_b=(+0.07,+0.00,-1.00) r=2.00m +[headless_play] t= 9.50s step= 475 trunk_z= 121.4mm grav_b=(+0.07,-0.07,-1.00) r=2.00m +[headless_play] t= 9.60s step= 480 trunk_z= 120.1mm grav_b=(+0.02,-0.04,-1.00) r=2.01m +[headless_play] t= 9.70s step= 485 trunk_z= 119.2mm grav_b=(+0.01,+0.01,-1.00) r=2.02m +[headless_play] t= 9.80s step= 490 trunk_z= 118.1mm grav_b=(+0.06,-0.01,-1.00) r=2.01m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(+0.09,-0.10,-0.99) r=2.01m +[headless_play] t= 10.00s step= 500 trunk_z= 117.3mm grav_b=(+0.10,-0.07,-0.99) r=2.01m +[headless_play] t= 10.10s step= 505 trunk_z= 116.5mm grav_b=(+0.07,+0.07,-1.00) r=2.03m +[headless_play] t= 10.20s step= 510 trunk_z= 121.8mm grav_b=(+0.06,+0.08,-0.99) r=2.04m +[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(+0.08,+0.03,-1.00) r=2.04m +[headless_play] t= 10.40s step= 520 trunk_z= 120.1mm grav_b=(+0.08,-0.08,-0.99) r=2.04m +[headless_play] t= 10.50s step= 525 trunk_z= 117.8mm grav_b=(+0.07,-0.01,-1.00) r=2.06m +[headless_play] t= 10.60s step= 530 trunk_z= 122.3mm grav_b=(+0.07,+0.09,-0.99) r=2.07m +[headless_play] t= 10.70s step= 535 trunk_z= 121.3mm grav_b=(+0.06,+0.07,-1.00) r=2.08m +[headless_play] t= 10.80s step= 540 trunk_z= 116.5mm grav_b=(+0.07,-0.05,-1.00) r=2.07m +[headless_play] t= 10.90s step= 545 trunk_z= 120.3mm grav_b=(+0.09,-0.09,-0.99) r=2.07m +[headless_play] t= 11.00s step= 550 trunk_z= 116.5mm grav_b=(+0.06,+0.00,-1.00) r=2.09m +[headless_play] t= 11.10s step= 555 trunk_z= 122.8mm grav_b=(+0.04,+0.09,-0.99) r=2.11m +[headless_play] t= 11.20s step= 560 trunk_z= 124.3mm grav_b=(-0.01,+0.13,-0.99) r=2.12m +[headless_play] t= 11.30s step= 565 trunk_z= 123.0mm grav_b=(+0.03,+0.10,-0.99) r=2.11m +[headless_play] t= 11.40s step= 570 trunk_z= 117.3mm grav_b=(+0.07,+0.01,-1.00) r=2.10m +[headless_play] t= 11.50s step= 575 trunk_z= 123.7mm grav_b=(+0.09,-0.07,-0.99) r=2.09m +[headless_play] t= 11.60s step= 580 trunk_z= 123.3mm grav_b=(+0.07,-0.06,-1.00) r=2.11m +[headless_play] t= 11.70s step= 585 trunk_z= 123.9mm grav_b=(+0.07,+0.05,-1.00) r=2.12m +[headless_play] t= 11.80s step= 590 trunk_z= 129.3mm grav_b=(+0.08,+0.04,-1.00) r=2.12m +[headless_play] t= 11.90s step= 595 trunk_z= 126.6mm grav_b=(+0.06,+0.02,-1.00) r=2.12m +[headless_play] t= 12.00s step= 600 trunk_z= 122.7mm grav_b=(+0.03,+0.04,-1.00) r=2.14m +[headless_play] t= 12.10s step= 605 trunk_z= 124.4mm grav_b=(+0.05,+0.08,-1.00) r=2.16m +[headless_play] t= 12.20s step= 610 trunk_z= 123.5mm grav_b=(+0.07,+0.03,-1.00) r=2.15m +[headless_play] t= 12.30s step= 615 trunk_z= 121.7mm grav_b=(+0.08,+0.00,-1.00) r=2.15m +[headless_play] t= 12.40s step= 620 trunk_z= 121.8mm grav_b=(+0.07,-0.00,-1.00) r=2.15m +[headless_play] t= 12.50s step= 625 trunk_z= 121.6mm grav_b=(+0.06,-0.00,-1.00) r=2.15m +[headless_play] t= 12.60s step= 630 trunk_z= 121.8mm grav_b=(+0.08,-0.01,-1.00) r=2.15m +[headless_play] t= 12.70s step= 635 trunk_z= 123.0mm grav_b=(+0.10,-0.01,-1.00) r=2.15m +[headless_play] t= 12.80s step= 640 trunk_z= 123.7mm grav_b=(+0.12,-0.00,-0.99) r=2.15m +[headless_play] t= 12.90s step= 645 trunk_z= 119.4mm grav_b=(+0.02,+0.04,-1.00) r=2.17m +[headless_play] t= 13.00s step= 650 trunk_z= 125.0mm grav_b=(+0.04,+0.05,-1.00) r=2.18m +[headless_play] t= 13.10s step= 655 trunk_z= 120.4mm grav_b=(+0.05,-0.02,-1.00) r=2.17m +[headless_play] t= 13.20s step= 660 trunk_z= 119.5mm grav_b=(+0.06,-0.01,-1.00) r=2.17m +[headless_play] t= 13.30s step= 665 trunk_z= 119.5mm grav_b=(+0.05,-0.00,-1.00) r=2.17m +[headless_play] t= 13.40s step= 670 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) r=2.17m +[headless_play] t= 13.50s step= 675 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00) r=2.17m +[headless_play] t= 13.60s step= 680 trunk_z= 118.3mm grav_b=(-0.07,-0.02,-1.00) r=2.16m +[headless_play] t= 13.70s step= 685 trunk_z= 118.8mm grav_b=(-0.06,+0.00,-1.00) r=2.16m +[headless_play] t= 13.80s step= 690 trunk_z= 118.8mm grav_b=(-0.02,+0.01,-1.00) r=2.16m +[headless_play] t= 13.90s step= 695 trunk_z= 120.0mm grav_b=(+0.03,+0.01,-1.00) r=2.16m +[headless_play] t= 14.00s step= 700 trunk_z= 121.5mm grav_b=(+0.06,+0.01,-1.00) r=2.17m +[headless_play] t= 14.10s step= 705 trunk_z= 122.7mm grav_b=(+0.09,+0.02,-1.00) r=2.17m +[headless_play] t= 14.20s step= 710 trunk_z= 123.8mm grav_b=(+0.12,+0.02,-0.99) r=2.17m +[headless_play] t= 14.30s step= 715 trunk_z= 118.4mm grav_b=(+0.10,-0.03,-0.99) r=2.17m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.09,-0.06,-0.99) r=2.18m +[headless_play] t= 14.50s step= 725 trunk_z= 118.7mm grav_b=(+0.08,-0.06,-0.99) r=2.20m +[headless_play] t= 14.60s step= 730 trunk_z= 128.3mm grav_b=(+0.14,+0.08,-0.99) r=2.22m +[headless_play] t= 14.70s step= 735 trunk_z= 138.0mm grav_b=(+0.07,+0.07,-0.99) r=2.24m +[headless_play] t= 14.80s step= 740 trunk_z= 117.0mm grav_b=(+0.06,+0.02,-1.00) r=2.23m +[headless_play] t= 14.90s step= 745 trunk_z= 130.3mm grav_b=(+0.03,-0.03,-1.00) r=2.23m +[headless_play] t= 15.00s step= 750 trunk_z= 120.2mm grav_b=(+0.05,-0.02,-1.00) r=2.24m +[headless_play] t= 15.10s step= 755 trunk_z= 122.7mm grav_b=(+0.07,+0.02,-1.00) r=2.25m +[headless_play] t= 15.20s step= 760 trunk_z= 121.8mm grav_b=(+0.13,-0.01,-0.99) r=2.24m +[headless_play] t= 15.30s step= 765 trunk_z= 123.0mm grav_b=(+0.05,+0.05,-1.00) r=2.25m +[headless_play] t= 15.40s step= 770 trunk_z= 124.1mm grav_b=(+0.08,+0.06,-1.00) r=2.26m +[headless_play] t= 15.50s step= 775 trunk_z= 121.2mm grav_b=(+0.04,+0.01,-1.00) r=2.25m +[headless_play] t= 15.60s step= 780 trunk_z= 117.9mm grav_b=(+0.01,+0.03,-1.00) r=2.25m +[headless_play] t= 15.70s step= 785 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00) r=2.24m +[headless_play] t= 15.80s step= 790 trunk_z= 118.7mm grav_b=(-0.02,+0.01,-1.00) r=2.24m +[headless_play] t= 15.90s step= 795 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=2.24m +[headless_play] t= 16.00s step= 800 trunk_z= 119.1mm grav_b=(-0.00,+0.01,-1.00) r=2.24m +[headless_play] t= 16.10s step= 805 trunk_z= 120.3mm grav_b=(+0.03,+0.01,-1.00) r=2.24m +[headless_play] t= 16.20s step= 810 trunk_z= 120.3mm grav_b=(+0.03,+0.02,-1.00) r=2.24m +[headless_play] t= 16.30s step= 815 trunk_z= 119.4mm grav_b=(+0.02,+0.02,-1.00) r=2.24m +[headless_play] t= 16.40s step= 820 trunk_z= 118.8mm grav_b=(-0.00,+0.02,-1.00) r=2.24m +[headless_play] t= 16.50s step= 825 trunk_z= 118.7mm grav_b=(-0.00,+0.02,-1.00) r=2.24m +[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(+0.03,+0.02,-1.00) r=2.24m +[headless_play] t= 16.70s step= 835 trunk_z= 123.0mm grav_b=(+0.08,+0.02,-1.00) r=2.24m +[headless_play] t= 16.80s step= 840 trunk_z= 124.7mm grav_b=(+0.12,+0.03,-0.99) r=2.24m +[headless_play] t= 16.90s step= 845 trunk_z= 120.2mm grav_b=(+0.10,-0.04,-0.99) r=2.23m +[headless_play] t= 17.00s step= 850 trunk_z= 128.1mm grav_b=(+0.12,-0.05,-0.99) r=2.22m +[headless_play] t= 17.10s step= 855 trunk_z= 119.9mm grav_b=(-0.02,+0.02,-1.00) r=2.23m +[headless_play] t= 17.20s step= 860 trunk_z= 123.0mm grav_b=(+0.06,+0.09,-0.99) r=2.25m +[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.04,+0.06,-1.00) r=2.25m +[headless_play] t= 17.40s step= 870 trunk_z= 120.8mm grav_b=(-0.04,+0.03,-1.00) r=2.25m +[headless_play] t= 17.50s step= 875 trunk_z= 114.8mm grav_b=(+0.04,+0.07,-1.00) r=2.26m +[headless_play] t= 17.60s step= 880 trunk_z= 121.6mm grav_b=(+0.06,+0.06,-1.00) r=2.26m +[headless_play] t= 17.70s step= 885 trunk_z= 119.7mm grav_b=(+0.03,-0.07,-1.00) r=2.24m +[headless_play] t= 17.80s step= 890 trunk_z= 127.7mm grav_b=(+0.04,-0.09,-1.00) r=2.22m +[headless_play] t= 17.90s step= 895 trunk_z= 129.6mm grav_b=(+0.00,-0.06,-1.00) r=2.22m +[headless_play] t= 18.00s step= 900 trunk_z= 120.8mm grav_b=(-0.03,+0.02,-1.00) r=2.21m +[headless_play] t= 18.10s step= 905 trunk_z= 127.5mm grav_b=(+0.04,+0.06,-1.00) r=2.21m +[headless_play] t= 18.20s step= 910 trunk_z= 126.5mm grav_b=(+0.02,+0.03,-1.00) r=2.20m +[headless_play] t= 18.30s step= 915 trunk_z= 121.4mm grav_b=(-0.05,-0.04,-1.00) r=2.19m +[headless_play] t= 18.40s step= 920 trunk_z= 124.8mm grav_b=(-0.03,-0.06,-1.00) r=2.19m +[headless_play] t= 18.50s step= 925 trunk_z= 118.7mm grav_b=(+0.01,+0.02,-1.00) r=2.19m +[headless_play] t= 18.60s step= 930 trunk_z= 126.6mm grav_b=(+0.06,+0.08,-1.00) r=2.19m +[headless_play] t= 18.70s step= 935 trunk_z= 127.6mm grav_b=(+0.07,+0.02,-1.00) r=2.18m +[headless_play] t= 18.80s step= 940 trunk_z= 126.4mm grav_b=(+0.03,-0.05,-1.00) r=2.16m +[headless_play] t= 18.90s step= 945 trunk_z= 132.8mm grav_b=(-0.01,-0.09,-1.00) r=2.14m +[headless_play] t= 19.00s step= 950 trunk_z= 126.0mm grav_b=(-0.03,-0.03,-1.00) r=2.11m +[headless_play] t= 19.10s step= 955 trunk_z= 127.0mm grav_b=(+0.03,+0.03,-1.00) r=2.08m +[headless_play] t= 19.20s step= 960 trunk_z= 129.9mm grav_b=(+0.06,+0.04,-1.00) r=2.07m +[headless_play] t= 19.30s step= 965 trunk_z= 124.0mm grav_b=(+0.02,-0.02,-1.00) r=2.06m +[headless_play] t= 19.40s step= 970 trunk_z= 128.5mm grav_b=(+0.01,-0.05,-1.00) r=2.04m +[headless_play] t= 19.50s step= 975 trunk_z= 130.8mm grav_b=(-0.02,-0.07,-1.00) r=2.02m +[headless_play] t= 19.60s step= 980 trunk_z= 122.3mm grav_b=(+0.01,+0.03,-1.00) r=1.99m +[headless_play] t= 19.70s step= 985 trunk_z= 128.7mm grav_b=(+0.07,+0.05,-1.00) r=1.98m +[headless_play] t= 19.80s step= 990 trunk_z= 127.2mm grav_b=(+0.05,+0.01,-1.00) r=1.97m +[headless_play] t= 19.90s step= 995 trunk_z= 127.1mm grav_b=(+0.02,-0.05,-1.00) r=1.95m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.5mm grav_b=(-0.01,+0.00,-1.00) r=0.34m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00) r=0.34m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..7016b220dbd68fd7e7260372db1724f48cd9ca69 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.2mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.426,-0.242,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 125.6mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 117.3mm grav_b=(-0.06,-0.00,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 119.3mm grav_b=(-0.06,-0.02,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 120.5mm grav_b=(-0.05,-0.02,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 121.0mm grav_b=(-0.04,-0.01,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 121.3mm grav_b=(-0.03,-0.01,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 121.0mm grav_b=(-0.04,+0.03,-1.00) r=0.50m +[headless_play] t= 0.70s step= 35 trunk_z= 121.5mm grav_b=(-0.07,+0.09,-0.99) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 126.9mm grav_b=(-0.16,+0.13,-0.98) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 127.7mm grav_b=(-0.09,+0.07,-0.99) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 120.0mm grav_b=(-0.04,-0.05,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 126.0mm grav_b=(-0.05,-0.07,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 120.0mm grav_b=(-0.06,+0.00,-1.00) r=0.51m +[headless_play] t= 1.30s step= 65 trunk_z= 124.7mm grav_b=(-0.04,+0.04,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 123.8mm grav_b=(-0.07,-0.04,-1.00) r=0.51m +[headless_play] t= 1.50s step= 75 trunk_z= 125.6mm grav_b=(-0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 131.3mm grav_b=(-0.05,-0.07,-1.00) r=0.51m +[headless_play] t= 1.70s step= 85 trunk_z= 125.0mm grav_b=(-0.11,-0.03,-0.99) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 123.0mm grav_b=(-0.08,+0.04,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 124.0mm grav_b=(-0.06,+0.01,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 121.6mm grav_b=(-0.06,-0.06,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 130.0mm grav_b=(-0.04,-0.12,-0.99) r=0.53m +[headless_play] t= 2.20s step= 110 trunk_z= 131.7mm grav_b=(-0.04,-0.13,-0.99) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 126.4mm grav_b=(-0.07,-0.05,-1.00) r=0.56m +[headless_play] t= 2.40s step= 120 trunk_z= 123.7mm grav_b=(-0.05,+0.00,-1.00) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 123.4mm grav_b=(-0.07,-0.01,-1.00) r=0.57m +[headless_play] t= 2.60s step= 130 trunk_z= 121.7mm grav_b=(-0.07,-0.08,-0.99) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 128.0mm grav_b=(-0.12,-0.14,-0.98) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 127.6mm grav_b=(-0.13,-0.11,-0.99) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(-0.11,-0.01,-0.99) r=0.57m +[headless_play] t= 3.00s step= 150 trunk_z= 126.4mm grav_b=(-0.04,+0.02,-1.00) r=0.58m +[headless_play] t= 3.10s step= 155 trunk_z= 123.8mm grav_b=(-0.02,-0.02,-1.00) r=0.57m +[headless_play] t= 3.20s step= 160 trunk_z= 126.1mm grav_b=(-0.05,-0.08,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 128.9mm grav_b=(-0.07,-0.10,-0.99) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 123.1mm grav_b=(-0.10,-0.05,-0.99) r=0.57m +[headless_play] t= 3.50s step= 175 trunk_z= 124.2mm grav_b=(-0.09,+0.02,-1.00) r=0.59m +[headless_play] t= 3.60s step= 180 trunk_z= 126.7mm grav_b=(-0.12,+0.07,-0.99) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 122.0mm grav_b=(-0.09,+0.01,-1.00) r=0.58m +[headless_play] t= 3.80s step= 190 trunk_z= 126.0mm grav_b=(-0.06,-0.10,-0.99) r=0.57m +[headless_play] t= 3.90s step= 195 trunk_z= 127.9mm grav_b=(-0.02,-0.09,-1.00) r=0.56m +[headless_play] t= 4.00s step= 200 trunk_z= 118.5mm grav_b=(-0.07,-0.00,-1.00) r=0.58m +[headless_play] t= 4.10s step= 205 trunk_z= 123.7mm grav_b=(-0.06,+0.01,-1.00) r=0.58m +[headless_play] t= 4.20s step= 210 trunk_z= 122.8mm grav_b=(-0.02,-0.01,-1.00) r=0.57m +[headless_play] t= 4.30s step= 215 trunk_z= 126.2mm grav_b=(-0.02,-0.10,-1.00) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 129.2mm grav_b=(-0.03,-0.11,-0.99) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 123.6mm grav_b=(-0.09,-0.02,-1.00) r=0.56m +[headless_play] t= 4.60s step= 230 trunk_z= 124.5mm grav_b=(-0.08,+0.03,-1.00) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 122.8mm grav_b=(-0.04,+0.01,-1.00) r=0.56m +[headless_play] t= 4.80s step= 240 trunk_z= 121.5mm grav_b=(-0.02,-0.10,-1.00) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 127.4mm grav_b=(-0.04,-0.12,-0.99) r=0.53m +[headless_play] t= 5.00s step= 250 trunk_z= 123.6mm grav_b=(-0.05,-0.06,-1.00) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 123.6mm grav_b=(-0.06,+0.05,-1.00) r=0.55m +[headless_play] t= 5.20s step= 260 trunk_z= 121.3mm grav_b=(-0.01,-0.05,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 125.6mm grav_b=(+0.01,-0.13,-0.99) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 128.9mm grav_b=(-0.03,-0.13,-0.99) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 124.4mm grav_b=(-0.05,-0.05,-1.00) r=0.50m +[headless_play] t= 5.60s step= 280 trunk_z= 124.7mm grav_b=(-0.04,-0.01,-1.00) r=0.51m +[headless_play] t= 5.70s step= 285 trunk_z= 119.5mm grav_b=(+0.01,-0.03,-1.00) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 119.1mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.04,+0.00,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 121.8mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(+0.01,-0.06,-1.00) r=0.50m +[headless_play] t= 6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 118.1mm grav_b=(-0.08,-0.01,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 118.2mm grav_b=(-0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 118.4mm grav_b=(-0.10,-0.03,-0.99) r=0.50m +[headless_play] t= 6.70s step= 335 trunk_z= 118.8mm grav_b=(-0.10,-0.02,-0.99) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 118.6mm grav_b=(-0.09,-0.02,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 118.6mm grav_b=(-0.07,-0.02,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 118.5mm grav_b=(-0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 118.6mm grav_b=(-0.02,-0.02,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 118.5mm grav_b=(-0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 118.4mm grav_b=(-0.04,-0.02,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 118.9mm grav_b=(-0.10,-0.01,-0.99) r=0.51m +[headless_play] t= 7.50s step= 375 trunk_z= 119.3mm grav_b=(-0.12,-0.02,-0.99) r=0.51m +[headless_play] t= 7.60s step= 380 trunk_z= 119.0mm grav_b=(-0.13,-0.02,-0.99) r=0.51m +[headless_play] t= 7.70s step= 385 trunk_z= 118.9mm grav_b=(-0.13,-0.02,-0.99) r=0.51m +[headless_play] t= 7.80s step= 390 trunk_z= 118.2mm grav_b=(-0.09,+0.01,-1.00) r=0.51m +[headless_play] t= 7.90s step= 395 trunk_z= 114.9mm grav_b=(-0.07,+0.07,-1.00) r=0.52m +[headless_play] t= 8.00s step= 400 trunk_z= 113.3mm grav_b=(-0.04,+0.02,-1.00) r=0.53m +[headless_play] t= 8.10s step= 405 trunk_z= 123.4mm grav_b=(-0.05,-0.19,-0.98) r=0.53m +[headless_play] t= 8.20s step= 410 trunk_z= 128.1mm grav_b=(-0.02,-0.30,-0.95) r=0.53m +[headless_play] t= 8.30s step= 415 trunk_z= 133.3mm grav_b=(+0.06,-0.28,-0.96) r=0.54m +[headless_play] t= 8.40s step= 420 trunk_z= 134.8mm grav_b=(+0.10,-0.38,-0.92) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 140.2mm grav_b=(+0.21,-0.33,-0.92) r=0.53m +[headless_play] t= 8.60s step= 430 trunk_z= 130.2mm grav_b=(+0.14,-0.16,-0.98) r=0.51m +[headless_play] t= 8.70s step= 435 trunk_z= 140.2mm grav_b=(+0.00,-0.05,-1.00) r=0.52m +[headless_play] t= 8.80s step= 440 trunk_z= 99.6mm grav_b=(-0.06,-0.02,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 118.5mm grav_b=(-0.05,-0.11,-0.99) r=0.55m +[headless_play] t= 9.00s step= 450 trunk_z= 121.3mm grav_b=(-0.08,-0.13,-0.99) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(-0.05,-0.03,-1.00) r=0.53m +[headless_play] t= 9.20s step= 460 trunk_z= 117.5mm grav_b=(-0.04,-0.04,-1.00) r=0.53m +[headless_play] t= 9.30s step= 465 trunk_z= 117.3mm grav_b=(-0.04,-0.04,-1.00) r=0.53m +[headless_play] t= 9.40s step= 470 trunk_z= 117.2mm grav_b=(-0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 9.50s step= 475 trunk_z= 117.6mm grav_b=(+0.02,-0.03,-1.00) r=0.53m +[headless_play] t= 9.60s step= 480 trunk_z= 120.9mm grav_b=(+0.08,-0.04,-1.00) r=0.53m +[headless_play] t= 9.70s step= 485 trunk_z= 114.3mm grav_b=(-0.12,+0.06,-0.99) r=0.53m +[headless_play] t= 9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.09,+0.05,-1.00) r=0.53m +[headless_play] t= 9.90s step= 495 trunk_z= 116.3mm grav_b=(-0.02,-0.08,-1.00) r=0.53m +[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(+0.03,-0.06,-1.00) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 116.1mm grav_b=(-0.05,+0.00,-1.00) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 116.0mm grav_b=(-0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 10.30s step= 515 trunk_z= 116.1mm grav_b=(-0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(+0.04,+0.00,-1.00) r=0.53m +[headless_play] t= 10.50s step= 525 trunk_z= 119.2mm grav_b=(+0.06,-0.02,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 119.2mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 119.0mm grav_b=(+0.01,+0.01,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 117.7mm grav_b=(+0.00,-0.05,-1.00) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 116.7mm grav_b=(-0.06,-0.03,-1.00) r=0.52m +[headless_play] t= 11.00s step= 550 trunk_z= 117.5mm grav_b=(-0.16,-0.01,-0.99) r=0.51m +[headless_play] t= 11.10s step= 555 trunk_z= 115.8mm grav_b=(-0.02,-0.12,-0.99) r=0.51m +[headless_play] t= 11.20s step= 560 trunk_z= 116.9mm grav_b=(-0.04,-0.10,-0.99) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 112.7mm grav_b=(-0.02,+0.01,-1.00) r=0.47m +[headless_play] t= 11.40s step= 570 trunk_z= 115.6mm grav_b=(-0.07,-0.02,-1.00) r=0.47m +[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(-0.06,-0.05,-1.00) r=0.47m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(-0.04,-0.03,-1.00) r=0.47m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 11.80s step= 590 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 11.90s step= 595 trunk_z= 118.2mm grav_b=(-0.03,-0.03,-1.00) r=0.47m +[headless_play] t= 12.00s step= 600 trunk_z= 119.0mm grav_b=(-0.01,-0.04,-1.00) r=0.47m +[headless_play] t= 12.10s step= 605 trunk_z= 118.7mm grav_b=(-0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 12.20s step= 610 trunk_z= 118.1mm grav_b=(-0.05,-0.04,-1.00) r=0.47m +[headless_play] t= 12.30s step= 615 trunk_z= 117.7mm grav_b=(-0.07,-0.03,-1.00) r=0.47m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(-0.08,-0.03,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 117.6mm grav_b=(-0.07,-0.03,-1.00) r=0.47m +[headless_play] t= 12.60s step= 630 trunk_z= 117.7mm grav_b=(-0.07,-0.03,-1.00) r=0.47m +[headless_play] t= 12.70s step= 635 trunk_z= 119.1mm grav_b=(-0.14,-0.06,-0.99) r=0.48m +[headless_play] t= 12.80s step= 640 trunk_z= 118.3mm grav_b=(-0.18,-0.03,-0.98) r=0.47m +[headless_play] t= 12.90s step= 645 trunk_z= 117.4mm grav_b=(-0.11,+0.04,-0.99) r=0.47m +[headless_play] t= 13.00s step= 650 trunk_z= 113.1mm grav_b=(-0.03,+0.11,-0.99) r=0.46m +[headless_play] t= 13.10s step= 655 trunk_z= 116.1mm grav_b=(-0.04,+0.03,-1.00) r=0.47m +[headless_play] t= 13.20s step= 660 trunk_z= 119.7mm grav_b=(-0.04,-0.07,-1.00) r=0.48m +[headless_play] t= 13.30s step= 665 trunk_z= 118.6mm grav_b=(-0.04,-0.06,-1.00) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 118.3mm grav_b=(-0.05,-0.04,-1.00) r=0.47m +[headless_play] t= 13.50s step= 675 trunk_z= 117.9mm grav_b=(-0.10,-0.01,-0.99) r=0.47m +[headless_play] t= 13.60s step= 680 trunk_z= 118.0mm grav_b=(-0.12,-0.00,-0.99) r=0.47m +[headless_play] t= 13.70s step= 685 trunk_z= 118.0mm grav_b=(-0.11,-0.00,-0.99) r=0.47m +[headless_play] t= 13.80s step= 690 trunk_z= 118.0mm grav_b=(-0.09,-0.00,-1.00) r=0.47m +[headless_play] t= 13.90s step= 695 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 14.00s step= 700 trunk_z= 118.3mm grav_b=(-0.05,-0.02,-1.00) r=0.47m +[headless_play] t= 14.10s step= 705 trunk_z= 118.5mm grav_b=(-0.04,-0.02,-1.00) r=0.47m +[headless_play] t= 14.20s step= 710 trunk_z= 121.9mm grav_b=(+0.02,-0.06,-1.00) r=0.48m +[headless_play] t= 14.30s step= 715 trunk_z= 126.9mm grav_b=(-0.03,-0.10,-0.99) r=0.48m +[headless_play] t= 14.40s step= 720 trunk_z= 122.4mm grav_b=(-0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 14.50s step= 725 trunk_z= 120.1mm grav_b=(-0.06,-0.00,-1.00) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(-0.06,-0.04,-1.00) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 118.0mm grav_b=(-0.04,-0.05,-1.00) r=0.47m +[headless_play] t= 14.80s step= 740 trunk_z= 117.7mm grav_b=(-0.05,-0.05,-1.00) r=0.47m +[headless_play] t= 14.90s step= 745 trunk_z= 117.6mm grav_b=(-0.04,-0.04,-1.00) r=0.47m +[headless_play] t= 15.00s step= 750 trunk_z= 117.4mm grav_b=(-0.03,-0.04,-1.00) r=0.47m +[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(-0.01,-0.05,-1.00) r=0.48m +[headless_play] t= 15.20s step= 760 trunk_z= 117.7mm grav_b=(+0.02,-0.05,-1.00) r=0.48m +[headless_play] t= 15.30s step= 765 trunk_z= 117.6mm grav_b=(-0.00,-0.04,-1.00) r=0.48m +[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 15.50s step= 775 trunk_z= 117.6mm grav_b=(-0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(-0.04,-0.04,-1.00) r=0.48m +[headless_play] t= 15.70s step= 785 trunk_z= 117.5mm grav_b=(-0.03,-0.04,-1.00) r=0.48m +[headless_play] t= 15.80s step= 790 trunk_z= 117.5mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 15.90s step= 795 trunk_z= 117.5mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 16.00s step= 800 trunk_z= 117.7mm grav_b=(-0.02,-0.04,-1.00) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(-0.04,-0.03,-1.00) r=0.48m +[headless_play] t= 16.20s step= 810 trunk_z= 117.2mm grav_b=(-0.03,-0.03,-1.00) r=0.48m +[headless_play] t= 16.30s step= 815 trunk_z= 117.0mm grav_b=(-0.02,-0.03,-1.00) r=0.48m +[headless_play] t= 16.40s step= 820 trunk_z= 117.0mm grav_b=(-0.01,-0.03,-1.00) r=0.48m +[headless_play] t= 16.50s step= 825 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 16.60s step= 830 trunk_z= 117.1mm grav_b=(-0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 16.70s step= 835 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(-0.04,-0.02,-1.00) r=0.48m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 17.00s step= 850 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 17.10s step= 855 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 17.20s step= 860 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 17.30s step= 865 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.48m +[headless_play] t= 17.40s step= 870 trunk_z= 117.0mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(-0.02,-0.02,-1.00) r=0.48m +[headless_play] t= 17.80s step= 890 trunk_z= 117.3mm grav_b=(-0.06,-0.01,-1.00) r=0.47m +[headless_play] t= 17.90s step= 895 trunk_z= 117.2mm grav_b=(-0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 18.00s step= 900 trunk_z= 117.2mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(-0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.02,-0.02,-1.00) r=0.47m +[headless_play] t= 18.30s step= 915 trunk_z= 117.2mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 18.50s step= 925 trunk_z= 117.3mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 18.60s step= 930 trunk_z= 118.6mm grav_b=(-0.03,-0.02,-1.00) r=0.47m +[headless_play] t= 18.70s step= 935 trunk_z= 122.2mm grav_b=(+0.00,-0.06,-1.00) r=0.49m +[headless_play] t= 18.80s step= 940 trunk_z= 122.5mm grav_b=(-0.05,-0.05,-1.00) r=0.48m +[headless_play] t= 18.90s step= 945 trunk_z= 120.1mm grav_b=(-0.06,+0.04,-1.00) r=0.47m +[headless_play] t= 19.00s step= 950 trunk_z= 120.3mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(-0.01,-0.11,-0.99) r=0.50m +[headless_play] t= 19.20s step= 960 trunk_z= 120.2mm grav_b=(-0.06,-0.09,-0.99) r=0.49m +[headless_play] t= 19.30s step= 965 trunk_z= 112.7mm grav_b=(-0.04,+0.02,-1.00) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 116.7mm grav_b=(-0.04,+0.06,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 114.7mm grav_b=(-0.01,+0.03,-1.00) r=0.48m +[headless_play] t= 19.60s step= 980 trunk_z= 113.0mm grav_b=(+0.02,-0.10,-0.99) r=0.49m +[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(+0.01,-0.15,-0.99) r=0.50m +[headless_play] t= 19.80s step= 990 trunk_z= 115.2mm grav_b=(+0.03,-0.12,-0.99) r=0.51m +[headless_play] t= 19.90s step= 995 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=0.51m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 118.7mm grav_b=(-0.01,+0.00,-1.00) r=0.04m +[headless_play] t= 20.10s step=1005 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.04m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..9cf6ad5549c66907ab10646dfab9b0e857b8cc3d --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.2mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.281,-0.438,+0.129) +[headless_play] t= 0.00s step= 0 trunk_z= 126.5mm grav_b=(-0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.08,-0.01,-1.00) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 117.5mm grav_b=(+0.08,+0.01,-1.00) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 117.7mm grav_b=(+0.09,+0.00,-1.00) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 117.5mm grav_b=(+0.08,-0.00,-1.00) r=0.52m +[headless_play] t= 0.60s step= 30 trunk_z= 117.7mm grav_b=(+0.07,+0.00,-1.00) r=0.52m +[headless_play] t= 0.70s step= 35 trunk_z= 119.0mm grav_b=(+0.10,+0.03,-0.99) r=0.51m +[headless_play] t= 0.80s step= 40 trunk_z= 119.7mm grav_b=(+0.12,+0.03,-0.99) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 120.9mm grav_b=(+0.15,+0.03,-0.99) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 122.1mm grav_b=(+0.05,+0.01,-1.00) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 120.5mm grav_b=(+0.04,-0.05,-1.00) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 117.1mm grav_b=(+0.03,+0.01,-1.00) r=0.53m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(+0.04,+0.03,-1.00) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 119.0mm grav_b=(+0.12,-0.03,-0.99) r=0.53m +[headless_play] t= 1.60s step= 80 trunk_z= 119.3mm grav_b=(+0.12,+0.05,-0.99) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 124.8mm grav_b=(+0.10,+0.09,-0.99) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 125.7mm grav_b=(+0.04,+0.06,-1.00) r=0.51m +[headless_play] t= 1.90s step= 95 trunk_z= 119.8mm grav_b=(+0.07,+0.02,-1.00) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 117.4mm grav_b=(+0.05,+0.03,-1.00) r=0.52m +[headless_play] t= 2.10s step= 105 trunk_z= 117.4mm grav_b=(+0.02,+0.01,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(+0.01,+0.00,-1.00) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.02,-0.02,-1.00) r=0.53m +[headless_play] t= 2.40s step= 120 trunk_z= 118.3mm grav_b=(-0.06,-0.02,-1.00) r=0.53m +[headless_play] t= 2.50s step= 125 trunk_z= 113.5mm grav_b=(+0.17,-0.13,-0.98) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 123.0mm grav_b=(+0.13,-0.04,-0.99) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.03,+0.07,-1.00) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 122.4mm grav_b=(+0.03,+0.07,-1.00) r=0.53m +[headless_play] t= 2.90s step= 145 trunk_z= 118.1mm grav_b=(+0.03,+0.04,-1.00) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 121.3mm grav_b=(+0.14,+0.02,-0.99) r=0.54m +[headless_play] t= 3.30s step= 165 trunk_z= 125.7mm grav_b=(+0.07,+0.04,-1.00) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 112.7mm grav_b=(+0.04,+0.10,-0.99) r=0.51m +[headless_play] t= 3.50s step= 175 trunk_z= 118.3mm grav_b=(+0.01,+0.08,-1.00) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.02,+0.02,-1.00) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(+0.02,+0.00,-1.00) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.03,+0.00,-1.00) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(-0.09,+0.02,-1.00) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.03,+0.13,-0.99) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 118.5mm grav_b=(+0.09,+0.09,-0.99) r=0.51m +[headless_play] t= 4.30s step= 215 trunk_z= 122.0mm grav_b=(+0.08,+0.06,-1.00) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 123.5mm grav_b=(+0.12,+0.03,-0.99) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 124.2mm grav_b=(+0.05,-0.01,-1.00) r=0.53m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(+0.04,-0.05,-1.00) r=0.56m +[headless_play] t= 4.70s step= 235 trunk_z= 118.1mm grav_b=(+0.02,-0.04,-1.00) r=0.56m +[headless_play] t= 4.80s step= 240 trunk_z= 115.5mm grav_b=(+0.06,+0.08,-0.99) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 128.4mm grav_b=(+0.18,+0.13,-0.97) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 128.7mm grav_b=(+0.07,+0.14,-0.99) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 126.9mm grav_b=(+0.06,+0.11,-0.99) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 125.5mm grav_b=(-0.02,+0.09,-1.00) r=0.50m +[headless_play] t= 5.30s step= 265 trunk_z= 122.9mm grav_b=(+0.02,+0.09,-1.00) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 119.5mm grav_b=(+0.05,+0.02,-1.00) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 119.5mm grav_b=(+0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 5.60s step= 280 trunk_z= 118.3mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 117.9mm grav_b=(-0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 117.7mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 118.6mm grav_b=(-0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 6.20s step= 310 trunk_z= 118.0mm grav_b=(-0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 6.30s step= 315 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 6.50s step= 325 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 6.70s step= 335 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 6.90s step= 345 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 7.10s step= 355 trunk_z= 118.9mm grav_b=(+0.01,+0.03,-1.00) r=0.49m +[headless_play] t= 7.20s step= 360 trunk_z= 119.2mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 7.30s step= 365 trunk_z= 118.8mm grav_b=(+0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 7.40s step= 370 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.49m +[headless_play] t= 7.60s step= 380 trunk_z= 117.3mm grav_b=(-0.09,-0.01,-1.00) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 117.8mm grav_b=(-0.06,+0.01,-1.00) r=0.49m +[headless_play] t= 7.80s step= 390 trunk_z= 117.2mm grav_b=(-0.02,+0.00,-1.00) r=0.49m +[headless_play] t= 7.90s step= 395 trunk_z= 117.7mm grav_b=(+0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 8.00s step= 400 trunk_z= 119.0mm grav_b=(+0.05,+0.00,-1.00) r=0.50m +[headless_play] t= 8.10s step= 405 trunk_z= 119.4mm grav_b=(+0.06,+0.00,-1.00) r=0.50m +[headless_play] t= 8.20s step= 410 trunk_z= 120.1mm grav_b=(+0.07,+0.00,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 121.0mm grav_b=(+0.08,+0.01,-1.00) r=0.49m +[headless_play] t= 8.40s step= 420 trunk_z= 121.9mm grav_b=(+0.10,+0.03,-1.00) r=0.49m +[headless_play] t= 8.50s step= 425 trunk_z= 117.3mm grav_b=(+0.00,+0.09,-1.00) r=0.49m +[headless_play] t= 8.60s step= 430 trunk_z= 117.5mm grav_b=(-0.06,+0.08,-1.00) r=0.50m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(-0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 8.80s step= 440 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.51m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00) r=0.51m +[headless_play] t= 9.00s step= 450 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 9.10s step= 455 trunk_z= 116.3mm grav_b=(-0.01,-0.00,-1.00) r=0.51m +[headless_play] t= 9.20s step= 460 trunk_z= 116.0mm grav_b=(-0.09,-0.02,-1.00) r=0.51m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.13,+0.04,-0.99) r=0.51m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(+0.06,-0.01,-1.00) r=0.52m +[headless_play] t= 9.50s step= 475 trunk_z= 113.5mm grav_b=(+0.20,-0.08,-0.98) r=0.53m +[headless_play] t= 9.60s step= 480 trunk_z= 118.7mm grav_b=(+0.06,+0.03,-1.00) r=0.52m +[headless_play] t= 9.70s step= 485 trunk_z= 126.2mm grav_b=(+0.08,+0.05,-1.00) r=0.53m +[headless_play] t= 9.80s step= 490 trunk_z= 126.1mm grav_b=(+0.02,+0.05,-1.00) r=0.55m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(+0.03,+0.02,-1.00) r=0.56m +[headless_play] t= 10.00s step= 500 trunk_z= 117.0mm grav_b=(+0.06,+0.03,-1.00) r=0.56m +[headless_play] t= 10.10s step= 505 trunk_z= 121.4mm grav_b=(+0.10,+0.02,-0.99) r=0.56m +[headless_play] t= 10.20s step= 510 trunk_z= 123.1mm grav_b=(+0.09,+0.04,-1.00) r=0.56m +[headless_play] t= 10.30s step= 515 trunk_z= 122.3mm grav_b=(+0.05,+0.06,-1.00) r=0.55m +[headless_play] t= 10.40s step= 520 trunk_z= 123.4mm grav_b=(+0.02,+0.03,-1.00) r=0.57m +[headless_play] t= 10.50s step= 525 trunk_z= 118.3mm grav_b=(+0.04,-0.02,-1.00) r=0.58m +[headless_play] t= 10.60s step= 530 trunk_z= 115.7mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 10.70s step= 535 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 10.80s step= 540 trunk_z= 116.0mm grav_b=(+0.04,+0.00,-1.00) r=0.57m +[headless_play] t= 10.90s step= 545 trunk_z= 116.1mm grav_b=(+0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 11.00s step= 550 trunk_z= 117.9mm grav_b=(+0.04,+0.03,-1.00) r=0.56m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(+0.06,+0.01,-1.00) r=0.57m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 11.30s step= 565 trunk_z= 116.9mm grav_b=(+0.07,-0.01,-1.00) r=0.57m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 11.60s step= 580 trunk_z= 116.6mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.00s step= 600 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.50s step= 625 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 12.70s step= 635 trunk_z= 117.5mm grav_b=(+0.05,-0.04,-1.00) r=0.57m +[headless_play] t= 12.80s step= 640 trunk_z= 116.7mm grav_b=(+0.05,-0.01,-1.00) r=0.57m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.07,-0.02,-1.00) r=0.57m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.30s step= 665 trunk_z= 116.6mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.50s step= 675 trunk_z= 116.5mm grav_b=(+0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 13.60s step= 680 trunk_z= 116.5mm grav_b=(+0.06,-0.01,-1.00) r=0.57m +[headless_play] t= 13.70s step= 685 trunk_z= 117.7mm grav_b=(+0.07,+0.04,-1.00) r=0.56m +[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.56m +[headless_play] t= 13.90s step= 695 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 14.00s step= 700 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.57m +[headless_play] t= 14.10s step= 705 trunk_z= 116.2mm grav_b=(+0.04,-0.01,-1.00) r=0.57m +[headless_play] t= 14.20s step= 710 trunk_z= 116.3mm grav_b=(+0.05,-0.00,-1.00) r=0.57m +[headless_play] t= 14.30s step= 715 trunk_z= 116.3mm grav_b=(+0.04,-0.00,-1.00) r=0.57m +[headless_play] t= 14.40s step= 720 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00) r=0.57m +[headless_play] t= 14.50s step= 725 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00) r=0.56m +[headless_play] t= 14.60s step= 730 trunk_z= 117.7mm grav_b=(+0.08,+0.02,-1.00) r=0.56m +[headless_play] t= 14.70s step= 735 trunk_z= 117.7mm grav_b=(+0.07,-0.00,-1.00) r=0.56m +[headless_play] t= 14.80s step= 740 trunk_z= 116.5mm grav_b=(+0.04,-0.00,-1.00) r=0.56m +[headless_play] t= 14.90s step= 745 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 15.00s step= 750 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 15.10s step= 755 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 15.20s step= 760 trunk_z= 116.2mm grav_b=(-0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 15.30s step= 765 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 15.40s step= 770 trunk_z= 116.1mm grav_b=(+0.00,-0.01,-1.00) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 115.3mm grav_b=(+0.07,-0.01,-1.00) r=0.56m +[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.08,-0.00,-1.00) r=0.56m +[headless_play] t= 15.70s step= 785 trunk_z= 115.7mm grav_b=(+0.07,-0.01,-1.00) r=0.56m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.00s step= 800 trunk_z= 115.7mm grav_b=(+0.06,-0.02,-1.00) r=0.56m +[headless_play] t= 16.10s step= 805 trunk_z= 115.5mm grav_b=(+0.05,-0.02,-1.00) r=0.56m +[headless_play] t= 16.20s step= 810 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.30s step= 815 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.40s step= 820 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.50s step= 825 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 16.70s step= 835 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 16.80s step= 840 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 16.90s step= 845 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.00s step= 850 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.10s step= 855 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 17.20s step= 860 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 17.30s step= 865 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.40s step= 870 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 17.50s step= 875 trunk_z= 115.4mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 17.60s step= 880 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.56m +[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.80s step= 890 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 17.90s step= 895 trunk_z= 115.9mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 18.00s step= 900 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00) r=0.56m +[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(+0.05,-0.01,-1.00) r=0.56m +[headless_play] t= 18.20s step= 910 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 115.5mm grav_b=(+0.03,-0.01,-1.00) r=0.56m +[headless_play] t= 18.40s step= 920 trunk_z= 115.0mm grav_b=(+0.08,-0.01,-1.00) r=0.56m +[headless_play] t= 18.50s step= 925 trunk_z= 115.4mm grav_b=(+0.10,-0.01,-1.00) r=0.56m +[headless_play] t= 18.60s step= 930 trunk_z= 115.4mm grav_b=(+0.06,-0.01,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 115.4mm grav_b=(+0.05,-0.01,-1.00) r=0.56m +[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.02,-0.03,-1.00) r=0.56m +[headless_play] t= 18.90s step= 945 trunk_z= 115.9mm grav_b=(-0.00,-0.02,-1.00) r=0.56m +[headless_play] t= 19.00s step= 950 trunk_z= 115.4mm grav_b=(+0.04,-0.02,-1.00) r=0.56m +[headless_play] t= 19.10s step= 955 trunk_z= 115.1mm grav_b=(+0.10,-0.01,-0.99) r=0.56m +[headless_play] t= 19.20s step= 960 trunk_z= 115.6mm grav_b=(+0.10,-0.01,-0.99) r=0.56m +[headless_play] t= 19.30s step= 965 trunk_z= 115.5mm grav_b=(+0.07,-0.02,-1.00) r=0.56m +[headless_play] t= 19.40s step= 970 trunk_z= 115.4mm grav_b=(+0.04,-0.02,-1.00) r=0.56m +[headless_play] t= 19.50s step= 975 trunk_z= 116.1mm grav_b=(-0.06,-0.02,-1.00) r=0.56m +[headless_play] t= 19.60s step= 980 trunk_z= 117.0mm grav_b=(-0.04,-0.04,-1.00) r=0.56m +[headless_play] t= 19.70s step= 985 trunk_z= 105.5mm grav_b=(+0.14,+0.09,-0.99) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 107.4mm grav_b=(+0.22,+0.15,-0.96) r=0.55m +[headless_play] t= 19.90s step= 995 trunk_z= 119.1mm grav_b=(+0.17,+0.04,-0.98) r=0.56m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 20.10s step=1005 trunk_z= 116.4mm grav_b=(+0.02,+0.04,-1.00) r=0.52m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..56163a20bd69a78a5f01838331586756720b1bc4 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-b-2026-10-23/z8b-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.440,+0.108,+0.128) +[headless_play] t= 0.00s step= 0 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 116.0mm grav_b=(-0.00,-0.01,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 114.8mm grav_b=(+0.05,+0.02,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 114.2mm grav_b=(+0.06,-0.08,-1.00) r=0.48m +[headless_play] t= 0.50s step= 25 trunk_z= 117.7mm grav_b=(+0.06,-0.15,-0.99) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 119.6mm grav_b=(+0.03,-0.09,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 119.0mm grav_b=(-0.02,+0.02,-1.00) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 120.8mm grav_b=(+0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 0.90s step= 45 trunk_z= 116.3mm grav_b=(+0.09,-0.05,-0.99) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 121.3mm grav_b=(+0.07,-0.16,-0.98) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 122.4mm grav_b=(+0.05,-0.12,-0.99) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 116.8mm grav_b=(+0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 120.5mm grav_b=(+0.01,-0.01,-1.00) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(+0.05,-0.11,-0.99) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 122.5mm grav_b=(+0.05,-0.19,-0.98) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 123.8mm grav_b=(+0.07,-0.16,-0.99) r=0.64m +[headless_play] t= 1.70s step= 85 trunk_z= 120.7mm grav_b=(+0.02,-0.05,-1.00) r=0.64m +[headless_play] t= 1.80s step= 90 trunk_z= 121.7mm grav_b=(-0.03,+0.00,-1.00) r=0.65m +[headless_play] t= 1.90s step= 95 trunk_z= 117.9mm grav_b=(+0.05,-0.06,-1.00) r=0.67m +[headless_play] t= 2.00s step= 100 trunk_z= 119.2mm grav_b=(+0.06,-0.17,-0.98) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 122.8mm grav_b=(+0.05,-0.15,-0.99) r=0.70m +[headless_play] t= 2.20s step= 110 trunk_z= 120.4mm grav_b=(+0.02,-0.06,-1.00) r=0.71m +[headless_play] t= 2.30s step= 115 trunk_z= 121.6mm grav_b=(-0.04,+0.01,-1.00) r=0.73m +[headless_play] t= 2.40s step= 120 trunk_z= 114.4mm grav_b=(-0.02,-0.15,-0.99) r=0.74m +[headless_play] t= 2.50s step= 125 trunk_z= 123.7mm grav_b=(+0.02,-0.24,-0.97) r=0.75m +[headless_play] t= 2.60s step= 130 trunk_z= 127.4mm grav_b=(+0.05,-0.26,-0.96) r=0.77m +[headless_play] t= 2.70s step= 135 trunk_z= 127.9mm grav_b=(+0.09,-0.24,-0.97) r=0.78m +[headless_play] t= 2.80s step= 140 trunk_z= 133.6mm grav_b=(+0.03,-0.15,-0.99) r=0.78m +[headless_play] t= 2.90s step= 145 trunk_z= 127.3mm grav_b=(-0.06,-0.19,-0.98) r=0.80m +[headless_play] t= 3.00s step= 150 trunk_z= 111.6mm grav_b=(+0.09,-0.25,-0.97) r=0.81m +[headless_play] t= 3.10s step= 155 trunk_z= 121.4mm grav_b=(+0.04,-0.34,-0.94) r=0.82m +[headless_play] t= 3.20s step= 160 trunk_z= 131.1mm grav_b=(+0.03,-0.39,-0.92) r=0.82m +[headless_play] t= 3.30s step= 165 trunk_z= 130.3mm grav_b=(+0.08,-0.41,-0.91) r=0.82m +[headless_play] t= 3.40s step= 170 trunk_z= 130.6mm grav_b=(+0.16,-0.33,-0.93) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 116.9mm grav_b=(+0.01,-0.34,-0.94) r=0.88m +[headless_play] t= 3.60s step= 180 trunk_z= 125.3mm grav_b=(+0.26,-0.29,-0.92) r=0.92m +[headless_play] t= 3.70s step= 185 trunk_z= 94.2mm grav_b=(+0.12,-0.07,-0.99) r=0.96m +[headless_play] t= 3.80s step= 190 trunk_z= 115.5mm grav_b=(+0.17,-0.09,-0.98) r=1.00m +[headless_play] t= 3.90s step= 195 trunk_z= 104.0mm grav_b=(-0.06,+0.02,-1.00) r=1.05m +[headless_play] t= 4.00s step= 200 trunk_z= 110.1mm grav_b=(-0.03,+0.06,-1.00) r=1.08m +[headless_play] t= 4.10s step= 205 trunk_z= 127.5mm grav_b=(-0.03,+0.07,-1.00) r=1.10m +[headless_play] t= 4.20s step= 210 trunk_z= 120.5mm grav_b=(-0.01,-0.03,-1.00) r=1.09m +[headless_play] t= 4.30s step= 215 trunk_z= 126.5mm grav_b=(-0.05,-0.08,-1.00) r=1.09m +[headless_play] t= 4.40s step= 220 trunk_z= 121.9mm grav_b=(-0.04,-0.04,-1.00) r=1.10m +[headless_play] t= 4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.02,+0.04,-1.00) r=1.12m +[headless_play] t= 4.60s step= 230 trunk_z= 115.0mm grav_b=(+0.03,+0.02,-1.00) r=1.12m +[headless_play] t= 4.70s step= 235 trunk_z= 111.5mm grav_b=(+0.06,-0.08,-1.00) r=1.11m +[headless_play] t= 4.80s step= 240 trunk_z= 117.9mm grav_b=(+0.06,-0.10,-0.99) r=1.11m +[headless_play] t= 4.90s step= 245 trunk_z= 116.8mm grav_b=(+0.04,-0.05,-1.00) r=1.12m +[headless_play] t= 5.00s step= 250 trunk_z= 118.4mm grav_b=(-0.01,+0.07,-1.00) r=1.13m +[headless_play] t= 5.10s step= 255 trunk_z= 117.0mm grav_b=(-0.03,-0.09,-1.00) r=1.12m +[headless_play] t= 5.20s step= 260 trunk_z= 120.6mm grav_b=(+0.00,-0.18,-0.98) r=1.11m +[headless_play] t= 5.30s step= 265 trunk_z= 122.2mm grav_b=(+0.03,-0.20,-0.98) r=1.10m +[headless_play] t= 5.40s step= 270 trunk_z= 121.5mm grav_b=(+0.06,-0.18,-0.98) r=1.11m +[headless_play] t= 5.50s step= 275 trunk_z= 120.8mm grav_b=(+0.06,-0.09,-0.99) r=1.12m +[headless_play] t= 5.60s step= 280 trunk_z= 121.4mm grav_b=(-0.00,+0.05,-1.00) r=1.14m +[headless_play] t= 5.70s step= 285 trunk_z= 123.9mm grav_b=(-0.02,+0.03,-1.00) r=1.15m +[headless_play] t= 5.80s step= 290 trunk_z= 121.0mm grav_b=(+0.00,+0.04,-1.00) r=1.14m +[headless_play] t= 5.90s step= 295 trunk_z= 118.0mm grav_b=(+0.01,-0.08,-1.00) r=1.12m +[headless_play] t= 6.00s step= 300 trunk_z= 119.0mm grav_b=(+0.03,-0.11,-0.99) r=1.12m +[headless_play] t= 6.10s step= 305 trunk_z= 116.6mm grav_b=(+0.05,-0.05,-1.00) r=1.13m +[headless_play] t= 6.20s step= 310 trunk_z= 117.4mm grav_b=(+0.01,+0.08,-1.00) r=1.15m +[headless_play] t= 6.30s step= 315 trunk_z= 117.9mm grav_b=(+0.02,+0.00,-1.00) r=1.15m +[headless_play] t= 6.40s step= 320 trunk_z= 117.6mm grav_b=(+0.12,-0.18,-0.98) r=1.13m +[headless_play] t= 6.50s step= 325 trunk_z= 127.8mm grav_b=(+0.10,-0.21,-0.97) r=1.12m +[headless_play] t= 6.60s step= 330 trunk_z= 131.4mm grav_b=(+0.04,-0.11,-0.99) r=1.11m +[headless_play] t= 6.70s step= 335 trunk_z= 121.2mm grav_b=(+0.01,-0.05,-1.00) r=1.11m +[headless_play] t= 6.80s step= 340 trunk_z= 127.3mm grav_b=(-0.01,-0.05,-1.00) r=1.10m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(+0.00,-0.08,-1.00) r=1.08m +[headless_play] t= 7.00s step= 350 trunk_z= 126.9mm grav_b=(-0.03,-0.14,-0.99) r=1.06m +[headless_play] t= 7.10s step= 355 trunk_z= 124.5mm grav_b=(+0.01,-0.11,-0.99) r=1.06m +[headless_play] t= 7.20s step= 360 trunk_z= 117.8mm grav_b=(+0.05,+0.00,-1.00) r=1.07m +[headless_play] t= 7.30s step= 365 trunk_z= 121.1mm grav_b=(+0.01,+0.00,-1.00) r=1.07m +[headless_play] t= 7.40s step= 370 trunk_z= 117.8mm grav_b=(-0.03,-0.12,-0.99) r=1.05m +[headless_play] t= 7.50s step= 375 trunk_z= 125.3mm grav_b=(-0.03,-0.16,-0.99) r=1.04m +[headless_play] t= 7.60s step= 380 trunk_z= 124.9mm grav_b=(-0.01,-0.11,-0.99) r=1.04m +[headless_play] t= 7.70s step= 385 trunk_z= 119.1mm grav_b=(+0.00,+0.02,-1.00) r=1.05m +[headless_play] t= 7.80s step= 390 trunk_z= 120.8mm grav_b=(+0.03,+0.01,-1.00) r=1.05m +[headless_play] t= 7.90s step= 395 trunk_z= 117.3mm grav_b=(-0.01,-0.15,-0.99) r=1.03m +[headless_play] t= 8.00s step= 400 trunk_z= 127.1mm grav_b=(-0.02,-0.22,-0.98) r=1.01m +[headless_play] t= 8.10s step= 405 trunk_z= 128.7mm grav_b=(+0.01,-0.22,-0.98) r=1.00m +[headless_play] t= 8.20s step= 410 trunk_z= 127.3mm grav_b=(+0.05,-0.19,-0.98) r=0.99m +[headless_play] t= 8.30s step= 415 trunk_z= 126.4mm grav_b=(+0.04,-0.11,-0.99) r=0.98m +[headless_play] t= 8.40s step= 420 trunk_z= 123.6mm grav_b=(+0.00,-0.02,-1.00) r=0.97m +[headless_play] t= 8.50s step= 425 trunk_z= 124.5mm grav_b=(-0.01,-0.02,-1.00) r=0.95m +[headless_play] t= 8.60s step= 430 trunk_z= 120.4mm grav_b=(+0.00,-0.09,-1.00) r=0.93m +[headless_play] t= 8.70s step= 435 trunk_z= 124.7mm grav_b=(-0.03,-0.11,-0.99) r=0.92m +[headless_play] t= 8.80s step= 440 trunk_z= 118.8mm grav_b=(+0.06,-0.04,-1.00) r=0.90m +[headless_play] t= 8.90s step= 445 trunk_z= 123.5mm grav_b=(+0.09,+0.04,-1.00) r=0.88m +[headless_play] t= 9.00s step= 450 trunk_z= 123.1mm grav_b=(+0.04,-0.04,-1.00) r=0.85m +[headless_play] t= 9.10s step= 455 trunk_z= 124.9mm grav_b=(-0.00,-0.15,-0.99) r=0.82m +[headless_play] t= 9.20s step= 460 trunk_z= 124.6mm grav_b=(-0.03,-0.14,-0.99) r=0.80m +[headless_play] t= 9.30s step= 465 trunk_z= 118.8mm grav_b=(-0.02,-0.03,-1.00) r=0.78m +[headless_play] t= 9.40s step= 470 trunk_z= 121.3mm grav_b=(-0.00,+0.00,-1.00) r=0.77m +[headless_play] t= 9.50s step= 475 trunk_z= 116.5mm grav_b=(+0.03,-0.07,-1.00) r=0.75m +[headless_play] t= 9.60s step= 480 trunk_z= 123.1mm grav_b=(+0.00,-0.13,-0.99) r=0.74m +[headless_play] t= 9.70s step= 485 trunk_z= 124.5mm grav_b=(-0.03,-0.12,-0.99) r=0.74m +[headless_play] t= 9.80s step= 490 trunk_z= 119.5mm grav_b=(-0.02,-0.02,-1.00) r=0.73m +[headless_play] t= 9.90s step= 495 trunk_z= 124.0mm grav_b=(-0.03,+0.06,-1.00) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 120.1mm grav_b=(-0.00,+0.02,-1.00) r=0.72m +[headless_play] t= 10.10s step= 505 trunk_z= 120.1mm grav_b=(+0.01,-0.08,-1.00) r=0.71m +[headless_play] t= 10.20s step= 510 trunk_z= 123.1mm grav_b=(+0.05,-0.10,-0.99) r=0.70m +[headless_play] t= 10.30s step= 515 trunk_z= 119.9mm grav_b=(+0.06,-0.04,-1.00) r=0.69m +[headless_play] t= 10.40s step= 520 trunk_z= 124.8mm grav_b=(+0.01,+0.07,-1.00) r=0.67m +[headless_play] t= 10.50s step= 525 trunk_z= 123.3mm grav_b=(+0.01,+0.04,-1.00) r=0.66m +[headless_play] t= 10.60s step= 530 trunk_z= 120.5mm grav_b=(-0.01,-0.06,-1.00) r=0.65m +[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(+0.07,-0.02,-1.00) r=0.62m +[headless_play] t= 10.80s step= 540 trunk_z= 119.1mm grav_b=(+0.06,+0.07,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 130.0mm grav_b=(+0.02,+0.07,-1.00) r=0.56m +[headless_play] t= 11.00s step= 550 trunk_z= 121.7mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 11.10s step= 555 trunk_z= 124.4mm grav_b=(-0.05,-0.07,-1.00) r=0.54m +[headless_play] t= 11.20s step= 560 trunk_z= 122.5mm grav_b=(-0.02,-0.06,-1.00) r=0.52m +[headless_play] t= 11.30s step= 565 trunk_z= 120.4mm grav_b=(+0.02,+0.06,-1.00) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 123.2mm grav_b=(+0.04,+0.05,-1.00) r=0.49m +[headless_play] t= 11.50s step= 575 trunk_z= 116.2mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 11.60s step= 580 trunk_z= 126.7mm grav_b=(+0.10,-0.08,-0.99) r=0.46m +[headless_play] t= 11.70s step= 585 trunk_z= 125.4mm grav_b=(+0.10,-0.04,-0.99) r=0.43m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(+0.04,+0.02,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 125.6mm grav_b=(-0.01,+0.03,-1.00) r=0.39m +[headless_play] t= 12.00s step= 600 trunk_z= 119.4mm grav_b=(-0.01,-0.04,-1.00) r=0.41m +[headless_play] t= 12.10s step= 605 trunk_z= 125.0mm grav_b=(-0.03,-0.08,-1.00) r=0.41m +[headless_play] t= 12.20s step= 610 trunk_z= 120.8mm grav_b=(-0.01,-0.04,-1.00) r=0.39m +[headless_play] t= 12.30s step= 615 trunk_z= 121.7mm grav_b=(-0.10,+0.06,-0.99) r=0.39m +[headless_play] t= 12.40s step= 620 trunk_z= 121.1mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 107.5mm grav_b=(+0.03,-0.12,-0.99) r=0.41m +[headless_play] t= 12.60s step= 630 trunk_z= 114.7mm grav_b=(+0.05,-0.11,-0.99) r=0.42m +[headless_play] t= 12.70s step= 635 trunk_z= 113.3mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 122.4mm grav_b=(+0.00,+0.07,-1.00) r=0.39m +[headless_play] t= 12.90s step= 645 trunk_z= 120.0mm grav_b=(+0.02,-0.00,-1.00) r=0.39m +[headless_play] t= 13.00s step= 650 trunk_z= 122.9mm grav_b=(-0.00,-0.08,-1.00) r=0.40m +[headless_play] t= 13.10s step= 655 trunk_z= 122.6mm grav_b=(+0.01,-0.07,-1.00) r=0.39m +[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(-0.01,+0.03,-1.00) r=0.37m +[headless_play] t= 13.30s step= 665 trunk_z= 123.0mm grav_b=(+0.05,+0.04,-1.00) r=0.36m +[headless_play] t= 13.40s step= 670 trunk_z= 114.9mm grav_b=(+0.01,-0.07,-1.00) r=0.38m +[headless_play] t= 13.50s step= 675 trunk_z= 123.2mm grav_b=(+0.03,-0.11,-0.99) r=0.38m +[headless_play] t= 13.60s step= 680 trunk_z= 124.0mm grav_b=(-0.00,-0.07,-1.00) r=0.38m +[headless_play] t= 13.70s step= 685 trunk_z= 121.7mm grav_b=(-0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 13.80s step= 690 trunk_z= 122.2mm grav_b=(-0.02,+0.02,-1.00) r=0.37m +[headless_play] t= 13.90s step= 695 trunk_z= 118.2mm grav_b=(+0.07,-0.07,-1.00) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 127.2mm grav_b=(+0.04,-0.05,-1.00) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 114.7mm grav_b=(-0.03,+0.03,-1.00) r=0.41m +[headless_play] t= 14.20s step= 710 trunk_z= 125.1mm grav_b=(-0.04,+0.06,-1.00) r=0.42m +[headless_play] t= 14.30s step= 715 trunk_z= 123.9mm grav_b=(-0.02,+0.03,-1.00) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 122.7mm grav_b=(+0.01,-0.08,-1.00) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 123.3mm grav_b=(+0.00,-0.10,-1.00) r=0.47m +[headless_play] t= 14.60s step= 730 trunk_z= 118.8mm grav_b=(+0.05,-0.04,-1.00) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 122.8mm grav_b=(-0.00,+0.07,-1.00) r=0.48m +[headless_play] t= 14.80s step= 740 trunk_z= 121.9mm grav_b=(-0.01,+0.02,-1.00) r=0.49m +[headless_play] t= 14.90s step= 745 trunk_z= 117.8mm grav_b=(+0.02,-0.05,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 121.8mm grav_b=(+0.00,-0.08,-1.00) r=0.51m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 123.2mm grav_b=(-0.03,+0.06,-1.00) r=0.53m +[headless_play] t= 15.30s step= 765 trunk_z= 119.2mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 121.7mm grav_b=(+0.02,-0.10,-0.99) r=0.56m +[headless_play] t= 15.50s step= 775 trunk_z= 122.2mm grav_b=(+0.03,-0.11,-0.99) r=0.57m +[headless_play] t= 15.60s step= 780 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.58m +[headless_play] t= 15.70s step= 785 trunk_z= 123.3mm grav_b=(-0.01,+0.05,-1.00) r=0.59m +[headless_play] t= 15.80s step= 790 trunk_z= 122.6mm grav_b=(-0.04,+0.04,-1.00) r=0.59m +[headless_play] t= 15.90s step= 795 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 16.00s step= 800 trunk_z= 121.5mm grav_b=(+0.00,-0.09,-1.00) r=0.62m +[headless_play] t= 16.10s step= 805 trunk_z= 118.3mm grav_b=(+0.03,-0.05,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 121.1mm grav_b=(+0.01,+0.06,-1.00) r=0.64m +[headless_play] t= 16.30s step= 815 trunk_z= 121.5mm grav_b=(-0.01,+0.02,-1.00) r=0.65m +[headless_play] t= 16.40s step= 820 trunk_z= 120.5mm grav_b=(-0.00,-0.09,-1.00) r=0.67m +[headless_play] t= 16.50s step= 825 trunk_z= 124.4mm grav_b=(-0.00,-0.12,-0.99) r=0.68m +[headless_play] t= 16.60s step= 830 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.71m +[headless_play] t= 16.70s step= 835 trunk_z= 124.2mm grav_b=(+0.03,+0.14,-0.99) r=0.73m +[headless_play] t= 16.80s step= 840 trunk_z= 127.2mm grav_b=(+0.05,+0.13,-0.99) r=0.75m +[headless_play] t= 16.90s step= 845 trunk_z= 124.1mm grav_b=(+0.00,+0.04,-1.00) r=0.76m +[headless_play] t= 17.00s step= 850 trunk_z= 125.5mm grav_b=(-0.04,-0.05,-1.00) r=0.78m +[headless_play] t= 17.10s step= 855 trunk_z= 121.8mm grav_b=(-0.05,-0.03,-1.00) r=0.79m +[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(-0.01,+0.02,-1.00) r=0.80m +[headless_play] t= 17.30s step= 865 trunk_z= 115.5mm grav_b=(+0.03,-0.02,-1.00) r=0.81m +[headless_play] t= 17.40s step= 870 trunk_z= 115.1mm grav_b=(+0.05,-0.16,-0.99) r=0.83m +[headless_play] t= 17.50s step= 875 trunk_z= 119.5mm grav_b=(+0.06,-0.20,-0.98) r=0.84m +[headless_play] t= 17.60s step= 880 trunk_z= 120.5mm grav_b=(+0.07,-0.18,-0.98) r=0.85m +[headless_play] t= 17.70s step= 885 trunk_z= 120.7mm grav_b=(+0.05,-0.08,-1.00) r=0.86m +[headless_play] t= 17.80s step= 890 trunk_z= 121.7mm grav_b=(+0.00,+0.03,-1.00) r=0.88m +[headless_play] t= 17.90s step= 895 trunk_z= 116.8mm grav_b=(+0.03,-0.04,-1.00) r=0.90m +[headless_play] t= 18.00s step= 900 trunk_z= 120.4mm grav_b=(+0.03,-0.12,-0.99) r=0.92m +[headless_play] t= 18.10s step= 905 trunk_z= 119.2mm grav_b=(+0.05,-0.12,-0.99) r=0.93m +[headless_play] t= 18.20s step= 910 trunk_z= 114.8mm grav_b=(+0.03,+0.00,-1.00) r=0.94m +[headless_play] t= 18.30s step= 915 trunk_z= 118.3mm grav_b=(-0.00,+0.03,-1.00) r=0.96m +[headless_play] t= 18.40s step= 920 trunk_z= 114.4mm grav_b=(+0.03,-0.02,-1.00) r=0.97m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.00,-0.09,-1.00) r=0.98m +[headless_play] t= 18.60s step= 930 trunk_z= 116.5mm grav_b=(+0.00,-0.08,-1.00) r=0.99m +[headless_play] t= 18.70s step= 935 trunk_z= 111.0mm grav_b=(+0.08,+0.01,-1.00) r=1.00m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(+0.07,+0.07,-0.99) r=1.03m +[headless_play] t= 18.90s step= 945 trunk_z= 115.2mm grav_b=(+0.12,+0.02,-0.99) r=1.05m +[headless_play] t= 19.00s step= 950 trunk_z= 122.4mm grav_b=(+0.01,-0.10,-1.00) r=1.06m +[headless_play] t= 19.10s step= 955 trunk_z= 122.2mm grav_b=(-0.01,-0.09,-1.00) r=1.08m +[headless_play] t= 19.20s step= 960 trunk_z= 116.0mm grav_b=(+0.02,+0.02,-1.00) r=1.09m +[headless_play] t= 19.30s step= 965 trunk_z= 118.1mm grav_b=(+0.02,+0.04,-1.00) r=1.11m +[headless_play] t= 19.40s step= 970 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00) r=1.11m +[headless_play] t= 19.50s step= 975 trunk_z= 120.8mm grav_b=(-0.08,-0.13,-0.99) r=1.12m +[headless_play] t= 19.60s step= 980 trunk_z= 124.5mm grav_b=(-0.07,-0.13,-0.99) r=1.11m +[headless_play] t= 19.70s step= 985 trunk_z= 123.2mm grav_b=(-0.01,-0.04,-1.00) r=1.10m +[headless_play] t= 19.80s step= 990 trunk_z= 107.1mm grav_b=(+0.09,+0.03,-1.00) r=1.09m +[headless_play] t= 19.90s step= 995 trunk_z= 109.8mm grav_b=(+0.09,+0.03,-1.00) r=1.08m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 123.8mm grav_b=(-0.01,+0.00,-1.00) r=0.30m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.30m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..05fd441c45f50ff2a62978e00eb2d6e193ac9ae9 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 121.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.270,-17.975,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(+0.03,-0.00,-1.00) r=0.27m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.07,-0.00,-1.00) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 117.6mm grav_b=(+0.09,-0.01,-1.00) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 120.4mm grav_b=(+0.07,-0.03,-1.00) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 119.8mm grav_b=(+0.03,-0.00,-1.00) r=0.28m +[headless_play] t= 0.60s step= 30 trunk_z= 119.1mm grav_b=(+0.05,-0.06,-1.00) r=0.28m +[headless_play] t= 0.70s step= 35 trunk_z= 119.2mm grav_b=(+0.03,-0.03,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 118.7mm grav_b=(+0.01,-0.03,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 117.8mm grav_b=(-0.01,-0.03,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 117.7mm grav_b=(-0.02,-0.03,-1.00) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=0.28m +[headless_play] t= 1.20s step= 60 trunk_z= 117.7mm grav_b=(-0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 117.6mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.00,-0.02,-1.00) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 118.1mm grav_b=(+0.04,-0.00,-1.00) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 118.2mm grav_b=(+0.04,-0.02,-1.00) r=0.25m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(-0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 3.50s step= 175 trunk_z= 117.7mm grav_b=(-0.00,-0.01,-1.00) r=0.24m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.24m +[headless_play] t= 3.70s step= 185 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 4.30s step= 215 trunk_z= 117.5mm grav_b=(+0.04,-0.01,-1.00) r=0.25m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 4.50s step= 225 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 4.60s step= 230 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 4.70s step= 235 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 4.80s step= 240 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.10s step= 255 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.30s step= 265 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.60s step= 280 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.70s step= 285 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.80s step= 290 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 5.90s step= 295 trunk_z= 117.3mm grav_b=(+0.05,-0.01,-1.00) r=0.25m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(+0.04,-0.05,-1.00) r=0.25m +[headless_play] t= 6.10s step= 305 trunk_z= 118.1mm grav_b=(+0.04,-0.09,-1.00) r=0.26m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.03,-0.03,-1.00) r=0.27m +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(+0.07,-0.07,-1.00) r=0.27m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(+0.08,-0.06,-1.00) r=0.28m +[headless_play] t= 6.50s step= 325 trunk_z= 118.0mm grav_b=(-0.02,+0.10,-0.99) r=0.29m +[headless_play] t= 6.60s step= 330 trunk_z= 119.5mm grav_b=(-0.02,-0.00,-1.00) r=0.30m +[headless_play] t= 6.70s step= 335 trunk_z= 121.5mm grav_b=(+0.03,-0.11,-0.99) r=0.32m +[headless_play] t= 6.80s step= 340 trunk_z= 115.0mm grav_b=(+0.02,+0.03,-1.00) r=0.32m +[headless_play] t= 6.90s step= 345 trunk_z= 118.2mm grav_b=(+0.03,+0.02,-1.00) r=0.33m +[headless_play] t= 7.00s step= 350 trunk_z= 117.2mm grav_b=(+0.03,-0.14,-0.99) r=0.34m +[headless_play] t= 7.10s step= 355 trunk_z= 115.4mm grav_b=(+0.03,+0.00,-1.00) r=0.36m +[headless_play] t= 7.20s step= 360 trunk_z= 118.3mm grav_b=(+0.02,+0.06,-1.00) r=0.37m +[headless_play] t= 7.30s step= 365 trunk_z= 114.3mm grav_b=(+0.01,-0.16,-0.99) r=0.38m +[headless_play] t= 7.40s step= 370 trunk_z= 114.1mm grav_b=(+0.10,-0.05,-0.99) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 116.8mm grav_b=(-0.05,+0.04,-1.00) r=0.39m +[headless_play] t= 7.60s step= 380 trunk_z= 119.8mm grav_b=(+0.04,-0.11,-0.99) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 131.3mm grav_b=(+0.05,-0.03,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 99.3mm grav_b=(-0.03,+0.06,-1.00) r=0.43m +[headless_play] t= 7.90s step= 395 trunk_z= 109.9mm grav_b=(-0.08,-0.08,-0.99) r=0.44m +[headless_play] t= 8.00s step= 400 trunk_z= 116.2mm grav_b=(+0.11,-0.03,-0.99) r=0.46m +[headless_play] t= 8.10s step= 405 trunk_z= 122.6mm grav_b=(-0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 8.20s step= 410 trunk_z= 121.6mm grav_b=(-0.01,-0.18,-0.98) r=0.47m +[headless_play] t= 8.30s step= 415 trunk_z= 129.9mm grav_b=(+0.00,-0.17,-0.98) r=0.50m +[headless_play] t= 8.40s step= 420 trunk_z= 129.6mm grav_b=(-0.02,-0.12,-0.99) r=0.52m +[headless_play] t= 8.50s step= 425 trunk_z= 117.4mm grav_b=(-0.07,+0.00,-1.00) r=0.55m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(-0.02,-0.13,-0.99) r=0.56m +[headless_play] t= 8.70s step= 435 trunk_z= 119.5mm grav_b=(+0.08,-0.05,-1.00) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 123.9mm grav_b=(+0.04,+0.09,-1.00) r=0.59m +[headless_play] t= 8.90s step= 445 trunk_z= 124.7mm grav_b=(+0.07,-0.11,-0.99) r=0.60m +[headless_play] t= 9.00s step= 450 trunk_z= 122.8mm grav_b=(+0.04,-0.02,-1.00) r=0.64m +[headless_play] t= 9.10s step= 455 trunk_z= 112.8mm grav_b=(-0.07,+0.13,-0.99) r=0.69m +[headless_play] t= 9.20s step= 460 trunk_z= 120.5mm grav_b=(-0.06,+0.10,-0.99) r=0.73m +[headless_play] t= 9.30s step= 465 trunk_z= 119.0mm grav_b=(+0.04,-0.13,-0.99) r=0.75m +[headless_play] t= 9.40s step= 470 trunk_z= 125.4mm grav_b=(-0.01,-0.03,-1.00) r=0.77m +[headless_play] t= 9.50s step= 475 trunk_z= 117.7mm grav_b=(-0.07,+0.06,-1.00) r=0.79m +[headless_play] t= 9.60s step= 480 trunk_z= 118.9mm grav_b=(-0.01,-0.08,-1.00) r=0.80m +[headless_play] t= 9.70s step= 485 trunk_z= 125.7mm grav_b=(+0.00,-0.06,-1.00) r=0.82m +[headless_play] t= 9.80s step= 490 trunk_z= 115.6mm grav_b=(-0.06,+0.08,-1.00) r=0.84m +[headless_play] t= 9.90s step= 495 trunk_z= 120.8mm grav_b=(-0.00,-0.01,-1.00) r=0.86m +[headless_play] t= 10.00s step= 500 trunk_z= 121.9mm grav_b=(+0.09,-0.16,-0.98) r=0.87m +[headless_play] t= 10.10s step= 505 trunk_z= 126.2mm grav_b=(+0.02,-0.10,-1.00) r=0.88m +[headless_play] t= 10.20s step= 510 trunk_z= 118.1mm grav_b=(+0.02,+0.06,-1.00) r=0.90m +[headless_play] t= 10.30s step= 515 trunk_z= 115.7mm grav_b=(+0.04,-0.10,-0.99) r=0.92m +[headless_play] t= 10.40s step= 520 trunk_z= 122.6mm grav_b=(+0.09,-0.14,-0.99) r=0.94m +[headless_play] t= 10.50s step= 525 trunk_z= 118.6mm grav_b=(-0.00,-0.04,-1.00) r=0.97m +[headless_play] t= 10.60s step= 530 trunk_z= 113.1mm grav_b=(+0.02,+0.06,-1.00) r=1.01m +[headless_play] t= 10.70s step= 535 trunk_z= 105.6mm grav_b=(+0.07,-0.10,-0.99) r=1.04m +[headless_play] t= 10.80s step= 540 trunk_z= 107.8mm grav_b=(+0.13,+0.00,-0.99) r=1.08m +[headless_play] t= 10.90s step= 545 trunk_z= 86.6mm grav_b=(-0.03,+0.21,-0.98) r=1.12m +[headless_play] t= 11.00s step= 550 trunk_z= 101.3mm grav_b=(+0.10,+0.17,-0.98) r=1.16m +[headless_play] t= 11.10s step= 555 trunk_z= 88.6mm grav_b=(-0.01,-0.04,-1.00) r=1.23m +[headless_play] t= 11.20s step= 560 trunk_z= 71.1mm grav_b=(-0.21,-0.20,-0.96) r=1.29m +[headless_play] t= 11.30s step= 565 trunk_z= 56.7mm grav_b=(-0.34,-0.16,-0.92) r=1.37m +[headless_play] t= 11.40s step= 570 trunk_z= 11.6mm grav_b=(-0.37,-0.01,-0.93) r=1.44m +[headless_play] t= 11.50s step= 575 trunk_z= -5.2mm grav_b=(-0.25,-0.44,-0.86) r=1.48m +[headless_play] t= 11.60s step= 580 trunk_z= -15.9mm grav_b=(-0.87,-0.38,-0.31) r=1.53m +[headless_play] RESET at t= 11.62s step= 581 (env termination, not a recovery) +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(+0.00,+0.01,-1.00) r=0.49m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(+0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 11.90s step= 595 trunk_z= 117.0mm grav_b=(+0.07,+0.03,-1.00) r=0.49m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(+0.06,+0.03,-1.00) r=0.49m +[headless_play] t= 12.10s step= 605 trunk_z= 116.9mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 12.20s step= 610 trunk_z= 116.9mm grav_b=(+0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 12.40s step= 620 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 12.60s step= 630 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 12.70s step= 635 trunk_z= 116.8mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 12.90s step= 645 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.00s step= 650 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.20s step= 710 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.40s step= 720 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.60s step= 730 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.70s step= 735 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.80s step= 740 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 14.90s step= 745 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 15.00s step= 750 trunk_z= 117.7mm grav_b=(-0.11,+0.01,-0.99) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 115.0mm grav_b=(-0.06,+0.01,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 100.3mm grav_b=(+0.02,+0.29,-0.96) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 109.8mm grav_b=(+0.05,+0.24,-0.97) r=0.55m +[headless_play] t= 15.40s step= 770 trunk_z= 113.5mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 15.50s step= 775 trunk_z= 117.9mm grav_b=(+0.05,+0.03,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 119.2mm grav_b=(+0.06,-0.03,-1.00) r=0.53m +[headless_play] t= 15.70s step= 785 trunk_z= 117.9mm grav_b=(-0.01,+0.12,-0.99) r=0.53m +[headless_play] t= 15.80s step= 790 trunk_z= 119.9mm grav_b=(+0.00,+0.07,-1.00) r=0.53m +[headless_play] t= 15.90s step= 795 trunk_z= 116.1mm grav_b=(-0.01,-0.06,-1.00) r=0.51m +[headless_play] t= 16.00s step= 800 trunk_z= 116.6mm grav_b=(-0.07,-0.01,-1.00) r=0.50m +[headless_play] t= 16.10s step= 805 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 16.20s step= 810 trunk_z= 117.8mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.30s step= 815 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.40s step= 820 trunk_z= 118.0mm grav_b=(-0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 16.50s step= 825 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.60s step= 830 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.70s step= 835 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 16.90s step= 845 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.00s step= 850 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.10s step= 855 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.20s step= 860 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.30s step= 865 trunk_z= 117.8mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.40s step= 870 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.50s step= 875 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.70s step= 885 trunk_z= 117.8mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(-0.06,+0.03,-1.00) r=0.49m +[headless_play] t= 17.90s step= 895 trunk_z= 117.6mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 18.00s step= 900 trunk_z= 117.2mm grav_b=(-0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 18.10s step= 905 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.20s step= 910 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.30s step= 915 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.40s step= 920 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.60s step= 930 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.70s step= 935 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.80s step= 940 trunk_z= 117.2mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 18.90s step= 945 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.10s step= 955 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.20s step= 960 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.30s step= 965 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.40s step= 970 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.50s step= 975 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.70s step= 985 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.80s step= 990 trunk_z= 117.1mm grav_b=(-0.03,+0.03,-1.00) r=0.49m +[headless_play] t= 19.90s step= 995 trunk_z= 117.9mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 20.00s step=1000 trunk_z= 121.6mm grav_b=(+0.07,-0.03,-1.00) r=0.45m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(+0.05,-0.19,-0.98) r=0.44m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..83cfcab8c155709f385d324a7b9ca175904fdbae --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(+1.674,-17.514,+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= 115.7mm grav_b=(+0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(+0.06,-0.06,-1.00) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 116.2mm grav_b=(-0.01,+0.12,-0.99) r=0.59m +[headless_play] t= 0.50s step= 25 trunk_z= 122.2mm grav_b=(-0.02,+0.05,-1.00) r=0.59m +[headless_play] t= 0.60s step= 30 trunk_z= 121.5mm grav_b=(-0.02,-0.07,-1.00) r=0.59m +[headless_play] t= 0.70s step= 35 trunk_z= 117.8mm grav_b=(+0.00,+0.10,-1.00) r=0.59m +[headless_play] t= 0.80s step= 40 trunk_z= 121.7mm grav_b=(+0.03,+0.04,-1.00) r=0.59m +[headless_play] t= 0.90s step= 45 trunk_z= 118.5mm grav_b=(-0.02,-0.10,-0.99) r=0.59m +[headless_play] t= 1.00s step= 50 trunk_z= 121.0mm grav_b=(+0.01,+0.03,-1.00) r=0.60m +[headless_play] t= 1.10s step= 55 trunk_z= 117.8mm grav_b=(-0.01,+0.10,-0.99) r=0.61m +[headless_play] t= 1.20s step= 60 trunk_z= 120.9mm grav_b=(-0.01,-0.02,-1.00) r=0.61m +[headless_play] t= 1.30s step= 65 trunk_z= 125.2mm grav_b=(+0.01,-0.08,-1.00) r=0.61m +[headless_play] t= 1.40s step= 70 trunk_z= 115.8mm grav_b=(+0.05,+0.12,-0.99) r=0.62m +[headless_play] t= 1.50s step= 75 trunk_z= 123.1mm grav_b=(-0.00,+0.05,-1.00) r=0.62m +[headless_play] t= 1.60s step= 80 trunk_z= 118.0mm grav_b=(-0.00,-0.10,-1.00) r=0.62m +[headless_play] t= 1.70s step= 85 trunk_z= 122.8mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 120.5mm grav_b=(+0.08,+0.11,-0.99) r=0.64m +[headless_play] t= 1.90s step= 95 trunk_z= 123.1mm grav_b=(-0.00,-0.01,-1.00) r=0.64m +[headless_play] t= 2.00s step= 100 trunk_z= 121.6mm grav_b=(-0.04,-0.07,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 118.9mm grav_b=(-0.02,+0.10,-1.00) r=0.67m +[headless_play] t= 2.20s step= 110 trunk_z= 119.9mm grav_b=(+0.04,-0.01,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(+0.02,-0.08,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 116.0mm grav_b=(-0.04,+0.11,-0.99) r=0.70m +[headless_play] t= 2.50s step= 125 trunk_z= 119.2mm grav_b=(+0.01,+0.04,-1.00) r=0.71m +[headless_play] t= 2.60s step= 130 trunk_z= 118.2mm grav_b=(+0.01,-0.09,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 121.7mm grav_b=(-0.03,+0.16,-0.99) r=0.75m +[headless_play] t= 2.90s step= 145 trunk_z= 121.2mm grav_b=(+0.00,+0.04,-1.00) r=0.77m +[headless_play] t= 3.00s step= 150 trunk_z= 115.3mm grav_b=(+0.08,-0.08,-0.99) r=0.78m +[headless_play] t= 3.10s step= 155 trunk_z= 111.5mm grav_b=(+0.07,+0.11,-0.99) r=0.78m +[headless_play] t= 3.20s step= 160 trunk_z= 120.6mm grav_b=(+0.04,+0.05,-1.00) r=0.79m +[headless_play] t= 3.30s step= 165 trunk_z= 116.3mm grav_b=(-0.02,-0.11,-0.99) r=0.82m +[headless_play] t= 3.40s step= 170 trunk_z= 119.0mm grav_b=(+0.03,+0.00,-1.00) r=0.83m +[headless_play] t= 3.50s step= 175 trunk_z= 113.1mm grav_b=(+0.08,+0.01,-1.00) r=0.83m +[headless_play] t= 3.60s step= 180 trunk_z= 116.9mm grav_b=(+0.02,-0.22,-0.98) r=0.83m +[headless_play] t= 3.70s step= 185 trunk_z= 131.7mm grav_b=(+0.04,-0.14,-0.99) r=0.84m +[headless_play] t= 3.80s step= 190 trunk_z= 107.8mm grav_b=(+0.02,-0.00,-1.00) r=0.86m +[headless_play] t= 3.90s step= 195 trunk_z= 118.3mm grav_b=(-0.19,-0.01,-0.98) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 116.4mm grav_b=(-0.09,-0.09,-0.99) r=0.90m +[headless_play] t= 4.10s step= 205 trunk_z= 111.7mm grav_b=(+0.10,+0.15,-0.98) r=0.91m +[headless_play] t= 4.20s step= 210 trunk_z= 111.5mm grav_b=(+0.12,+0.10,-0.99) r=0.92m +[headless_play] t= 4.30s step= 215 trunk_z= 113.1mm grav_b=(-0.02,-0.11,-0.99) r=0.93m +[headless_play] t= 4.40s step= 220 trunk_z= 128.3mm grav_b=(-0.03,+0.03,-1.00) r=0.94m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.06,+0.11,-0.99) r=0.97m +[headless_play] t= 4.60s step= 230 trunk_z= 122.5mm grav_b=(-0.09,+0.05,-0.99) r=0.98m +[headless_play] t= 4.70s step= 235 trunk_z= 111.4mm grav_b=(+0.08,-0.09,-0.99) r=0.99m +[headless_play] t= 4.80s step= 240 trunk_z= 103.4mm grav_b=(+0.20,+0.03,-0.98) r=1.00m +[headless_play] t= 4.90s step= 245 trunk_z= 108.9mm grav_b=(+0.13,+0.12,-0.98) r=1.02m +[headless_play] t= 5.00s step= 250 trunk_z= 88.1mm grav_b=(+0.06,+0.06,-1.00) r=1.05m +[headless_play] t= 5.10s step= 255 trunk_z= 75.7mm grav_b=(-0.00,+0.00,-1.00) r=1.06m +[headless_play] t= 5.20s step= 260 trunk_z= 82.3mm grav_b=(+0.10,-0.07,-0.99) r=1.08m +[headless_play] t= 5.30s step= 265 trunk_z= 89.5mm grav_b=(-0.02,-0.06,-1.00) r=1.10m +[headless_play] t= 5.40s step= 270 trunk_z= 90.5mm grav_b=(-0.13,+0.16,-0.98) r=1.12m +[headless_play] t= 5.50s step= 275 trunk_z= 105.0mm grav_b=(-0.03,+0.15,-0.99) r=1.15m +[headless_play] t= 5.60s step= 280 trunk_z= 103.1mm grav_b=(-0.02,+0.09,-1.00) r=1.16m +[headless_play] t= 5.70s step= 285 trunk_z= 95.0mm grav_b=(-0.05,+0.01,-1.00) r=1.17m +[headless_play] t= 5.80s step= 290 trunk_z= 87.7mm grav_b=(+0.07,+0.15,-0.99) r=1.17m +[headless_play] t= 5.90s step= 295 trunk_z= 90.6mm grav_b=(+0.04,+0.05,-1.00) r=1.18m +[headless_play] t= 6.00s step= 300 trunk_z= 90.9mm grav_b=(-0.00,-0.09,-1.00) r=1.20m +[headless_play] t= 6.10s step= 305 trunk_z= 87.6mm grav_b=(+0.05,+0.07,-1.00) r=1.22m +[headless_play] t= 6.20s step= 310 trunk_z= 93.8mm grav_b=(+0.04,+0.07,-1.00) r=1.23m +[headless_play] t= 6.30s step= 315 trunk_z= 91.0mm grav_b=(+0.00,-0.09,-1.00) r=1.26m +[headless_play] t= 6.40s step= 320 trunk_z= 92.6mm grav_b=(+0.03,-0.01,-1.00) r=1.28m +[headless_play] t= 6.50s step= 325 trunk_z= 93.4mm grav_b=(+0.03,+0.08,-1.00) r=1.30m +[headless_play] t= 6.60s step= 330 trunk_z= 90.5mm grav_b=(+0.01,-0.06,-1.00) r=1.31m +[headless_play] t= 6.70s step= 335 trunk_z= 94.0mm grav_b=(+0.04,-0.10,-0.99) r=1.33m +[headless_play] t= 6.80s step= 340 trunk_z= 88.6mm grav_b=(+0.05,+0.09,-0.99) r=1.35m +[headless_play] t= 6.90s step= 345 trunk_z= 94.5mm grav_b=(-0.01,+0.02,-1.00) r=1.37m +[headless_play] t= 7.00s step= 350 trunk_z= 92.4mm grav_b=(+0.01,-0.10,-1.00) r=1.39m +[headless_play] t= 7.10s step= 355 trunk_z= 89.3mm grav_b=(+0.09,+0.02,-1.00) r=1.40m +[headless_play] t= 7.20s step= 360 trunk_z= 94.0mm grav_b=(+0.06,+0.03,-1.00) r=1.42m +[headless_play] t= 7.30s step= 365 trunk_z= 90.1mm grav_b=(-0.02,-0.11,-0.99) r=1.44m +[headless_play] t= 7.40s step= 370 trunk_z= 94.7mm grav_b=(+0.04,-0.07,-1.00) r=1.46m +[headless_play] t= 7.50s step= 375 trunk_z= 89.6mm grav_b=(+0.11,+0.13,-0.99) r=1.48m +[headless_play] t= 7.60s step= 380 trunk_z= 97.9mm grav_b=(-0.04,+0.10,-0.99) r=1.49m +[headless_play] t= 7.70s step= 385 trunk_z= 90.2mm grav_b=(+0.02,-0.04,-1.00) r=1.51m +[headless_play] t= 7.80s step= 390 trunk_z= 91.3mm grav_b=(+0.06,+0.01,-1.00) r=1.53m +[headless_play] t= 7.90s step= 395 trunk_z= 89.0mm grav_b=(+0.05,+0.04,-1.00) r=1.54m +[headless_play] t= 8.00s step= 400 trunk_z= 95.2mm grav_b=(+0.05,+0.04,-1.00) r=1.54m +[headless_play] t= 8.10s step= 405 trunk_z= 88.9mm grav_b=(-0.01,-0.09,-1.00) r=1.55m +[headless_play] t= 8.20s step= 410 trunk_z= 95.5mm grav_b=(+0.00,-0.03,-1.00) r=1.57m +[headless_play] t= 8.30s step= 415 trunk_z= 90.1mm grav_b=(+0.03,+0.08,-1.00) r=1.57m +[headless_play] t= 8.40s step= 420 trunk_z= 92.2mm grav_b=(+0.04,-0.01,-1.00) r=1.58m +[headless_play] t= 8.50s step= 425 trunk_z= 94.0mm grav_b=(+0.02,-0.11,-0.99) r=1.59m +[headless_play] t= 8.60s step= 430 trunk_z= 93.0mm grav_b=(+0.05,-0.00,-1.00) r=1.60m +[headless_play] t= 8.70s step= 435 trunk_z= 92.6mm grav_b=(+0.03,+0.08,-1.00) r=1.60m +[headless_play] t= 8.80s step= 440 trunk_z= 90.1mm grav_b=(+0.02,-0.09,-1.00) r=1.60m +[headless_play] t= 8.90s step= 445 trunk_z= 100.6mm grav_b=(+0.07,-0.03,-1.00) r=1.60m +[headless_play] t= 9.00s step= 450 trunk_z= 87.0mm grav_b=(-0.03,+0.12,-0.99) r=1.60m +[headless_play] t= 9.10s step= 455 trunk_z= 96.3mm grav_b=(-0.02,+0.08,-1.00) r=1.61m +[headless_play] t= 9.20s step= 460 trunk_z= 93.2mm grav_b=(+0.00,-0.08,-1.00) r=1.62m +[headless_play] t= 9.30s step= 465 trunk_z= 95.4mm grav_b=(+0.03,+0.01,-1.00) r=1.62m +[headless_play] t= 9.40s step= 470 trunk_z= 93.4mm grav_b=(+0.03,+0.07,-1.00) r=1.62m +[headless_play] t= 9.50s step= 475 trunk_z= 91.4mm grav_b=(-0.00,-0.05,-1.00) r=1.63m +[headless_play] t= 9.60s step= 480 trunk_z= 95.3mm grav_b=(+0.04,-0.06,-1.00) r=1.64m +[headless_play] t= 9.70s step= 485 trunk_z= 88.4mm grav_b=(+0.03,+0.09,-1.00) r=1.64m +[headless_play] t= 9.80s step= 490 trunk_z= 95.1mm grav_b=(+0.01,+0.06,-1.00) r=1.64m +[headless_play] t= 9.90s step= 495 trunk_z= 91.8mm grav_b=(+0.00,-0.07,-1.00) r=1.65m +[headless_play] t= 10.00s step= 500 trunk_z= 92.6mm grav_b=(+0.05,+0.00,-1.00) r=1.66m +[headless_play] t= 10.10s step= 505 trunk_z= 91.1mm grav_b=(+0.03,+0.06,-1.00) r=1.66m +[headless_play] t= 10.20s step= 510 trunk_z= 92.7mm grav_b=(+0.03,-0.01,-1.00) r=1.66m +[headless_play] t= 10.30s step= 515 trunk_z= 93.6mm grav_b=(+0.02,-0.08,-1.00) r=1.67m +[headless_play] t= 10.40s step= 520 trunk_z= 91.3mm grav_b=(+0.06,-0.00,-1.00) r=1.68m +[headless_play] t= 10.50s step= 525 trunk_z= 93.2mm grav_b=(+0.04,+0.06,-1.00) r=1.67m +[headless_play] t= 10.60s step= 530 trunk_z= 91.9mm grav_b=(-0.00,-0.04,-1.00) r=1.68m +[headless_play] t= 10.70s step= 535 trunk_z= 94.7mm grav_b=(+0.02,-0.06,-1.00) r=1.68m +[headless_play] t= 10.80s step= 540 trunk_z= 89.7mm grav_b=(+0.04,+0.05,-1.00) r=1.68m +[headless_play] t= 10.90s step= 545 trunk_z= 95.1mm grav_b=(-0.02,-0.03,-1.00) r=1.68m +[headless_play] t= 11.00s step= 550 trunk_z= 95.5mm grav_b=(-0.03,-0.06,-1.00) r=1.67m +[headless_play] t= 11.10s step= 555 trunk_z= 91.1mm grav_b=(-0.00,+0.07,-1.00) r=1.66m +[headless_play] t= 11.20s step= 560 trunk_z= 97.9mm grav_b=(-0.02,-0.03,-1.00) r=1.66m +[headless_play] t= 11.30s step= 565 trunk_z= 94.5mm grav_b=(-0.01,-0.08,-1.00) r=1.65m +[headless_play] t= 11.40s step= 570 trunk_z= 92.4mm grav_b=(-0.05,+0.07,-1.00) r=1.64m +[headless_play] t= 11.50s step= 575 trunk_z= 101.8mm grav_b=(-0.01,+0.07,-1.00) r=1.63m +[headless_play] t= 11.60s step= 580 trunk_z= 90.9mm grav_b=(-0.04,-0.14,-0.99) r=1.63m +[headless_play] t= 11.70s step= 585 trunk_z= 95.8mm grav_b=(-0.04,-0.01,-1.00) r=1.62m +[headless_play] t= 11.80s step= 590 trunk_z= 101.3mm grav_b=(-0.01,+0.11,-0.99) r=1.62m +[headless_play] t= 11.90s step= 595 trunk_z= 98.3mm grav_b=(-0.03,-0.04,-1.00) r=1.62m +[headless_play] t= 12.00s step= 600 trunk_z= 95.7mm grav_b=(-0.04,-0.05,-1.00) r=1.62m +[headless_play] t= 12.10s step= 605 trunk_z= 94.0mm grav_b=(-0.04,+0.09,-1.00) r=1.62m +[headless_play] t= 12.20s step= 610 trunk_z= 100.7mm grav_b=(-0.04,+0.04,-1.00) r=1.62m +[headless_play] t= 12.30s step= 615 trunk_z= 93.0mm grav_b=(-0.02,-0.11,-0.99) r=1.61m +[headless_play] t= 12.40s step= 620 trunk_z= 96.4mm grav_b=(-0.02,-0.01,-1.00) r=1.61m +[headless_play] t= 12.50s step= 625 trunk_z= 103.3mm grav_b=(-0.03,+0.11,-0.99) r=1.61m +[headless_play] t= 12.60s step= 630 trunk_z= 93.5mm grav_b=(-0.06,-0.05,-1.00) r=1.61m +[headless_play] t= 12.70s step= 635 trunk_z= 96.8mm grav_b=(-0.03,-0.05,-1.00) r=1.61m +[headless_play] t= 12.80s step= 640 trunk_z= 94.9mm grav_b=(-0.01,+0.10,-0.99) r=1.60m +[headless_play] t= 12.90s step= 645 trunk_z= 101.8mm grav_b=(-0.02,+0.00,-1.00) r=1.61m +[headless_play] t= 13.00s step= 650 trunk_z= 94.5mm grav_b=(-0.04,-0.06,-1.00) r=1.61m +[headless_play] t= 13.10s step= 655 trunk_z= 92.9mm grav_b=(-0.03,+0.08,-1.00) r=1.61m +[headless_play] t= 13.20s step= 660 trunk_z= 99.7mm grav_b=(-0.03,+0.01,-1.00) r=1.61m +[headless_play] t= 13.30s step= 665 trunk_z= 95.0mm grav_b=(-0.04,-0.10,-0.99) r=1.61m +[headless_play] t= 13.40s step= 670 trunk_z= 94.7mm grav_b=(-0.05,+0.03,-1.00) r=1.60m +[headless_play] t= 13.50s step= 675 trunk_z= 102.1mm grav_b=(-0.03,+0.07,-1.00) r=1.60m +[headless_play] t= 13.60s step= 680 trunk_z= 92.2mm grav_b=(-0.03,-0.11,-0.99) r=1.60m +[headless_play] t= 13.70s step= 685 trunk_z= 95.7mm grav_b=(-0.03,+0.02,-1.00) r=1.60m +[headless_play] t= 13.80s step= 690 trunk_z= 101.6mm grav_b=(-0.01,+0.07,-1.00) r=1.61m +[headless_play] t= 13.90s step= 695 trunk_z= 96.6mm grav_b=(+0.06,-0.16,-0.99) r=1.66m +[headless_play] t= 14.00s step= 700 trunk_z= 109.2mm grav_b=(+0.16,-0.09,-0.98) r=1.70m +[headless_play] t= 14.10s step= 705 trunk_z= 56.6mm grav_b=(+0.08,+0.05,-1.00) r=1.75m +[headless_play] t= 14.20s step= 710 trunk_z= 76.2mm grav_b=(+0.03,+0.16,-0.99) r=1.77m +[headless_play] t= 14.30s step= 715 trunk_z= 103.1mm grav_b=(-0.01,+0.07,-1.00) r=1.79m +[headless_play] t= 14.40s step= 720 trunk_z= 87.8mm grav_b=(-0.16,-0.07,-0.99) r=1.82m +[headless_play] t= 14.50s step= 725 trunk_z= 93.4mm grav_b=(-0.04,+0.11,-0.99) r=1.84m +[headless_play] t= 14.60s step= 730 trunk_z= 100.0mm grav_b=(-0.04,+0.12,-0.99) r=1.84m +[headless_play] t= 14.70s step= 735 trunk_z= 91.1mm grav_b=(+0.05,-0.10,-0.99) r=1.83m +[headless_play] t= 14.80s step= 740 trunk_z= 98.0mm grav_b=(+0.03,+0.03,-1.00) r=1.83m +[headless_play] t= 14.90s step= 745 trunk_z= 92.8mm grav_b=(-0.01,+0.11,-0.99) r=1.84m +[headless_play] t= 15.00s step= 750 trunk_z= 91.3mm grav_b=(-0.08,-0.03,-1.00) r=1.85m +[headless_play] t= 15.10s step= 755 trunk_z= 99.5mm grav_b=(-0.01,-0.06,-1.00) r=1.87m +[headless_play] t= 15.20s step= 760 trunk_z= 94.3mm grav_b=(+0.02,+0.02,-1.00) r=1.88m +[headless_play] t= 15.30s step= 765 trunk_z= 100.0mm grav_b=(+0.03,+0.00,-1.00) r=1.89m +[headless_play] t= 15.40s step= 770 trunk_z= 96.3mm grav_b=(+0.06,-0.19,-0.98) r=1.90m +[headless_play] t= 15.50s step= 775 trunk_z= 104.5mm grav_b=(-0.04,-0.11,-0.99) r=1.91m +[headless_play] t= 15.60s step= 780 trunk_z= 87.8mm grav_b=(-0.07,+0.08,-0.99) r=1.95m +[headless_play] t= 15.70s step= 785 trunk_z= 87.9mm grav_b=(-0.16,-0.05,-0.99) r=1.97m +[headless_play] t= 15.80s step= 790 trunk_z= 87.0mm grav_b=(+0.14,+0.05,-0.99) r=1.99m +[headless_play] t= 15.90s step= 795 trunk_z= 86.9mm grav_b=(+0.14,+0.09,-0.99) r=1.99m +[headless_play] t= 16.00s step= 800 trunk_z= 88.4mm grav_b=(+0.38,-0.17,-0.91) r=2.01m +[headless_play] t= 16.10s step= 805 trunk_z= 74.9mm grav_b=(+0.52,-0.30,-0.80) r=2.04m +[headless_play] t= 16.20s step= 810 trunk_z= 85.6mm grav_b=(+0.46,-0.12,-0.88) r=2.06m +[headless_play] t= 16.30s step= 815 trunk_z= 94.6mm grav_b=(+0.23,+0.14,-0.96) r=2.08m +[headless_play] t= 16.40s step= 820 trunk_z= 104.4mm grav_b=(-0.01,-0.01,-1.00) r=2.10m +[headless_play] t= 16.50s step= 825 trunk_z= 98.6mm grav_b=(-0.06,-0.17,-0.98) r=2.13m +[headless_play] t= 16.60s step= 830 trunk_z= 100.4mm grav_b=(-0.01,-0.13,-0.99) r=2.14m +[headless_play] t= 16.70s step= 835 trunk_z= 92.8mm grav_b=(+0.08,+0.04,-1.00) r=2.13m +[headless_play] t= 16.80s step= 840 trunk_z= 105.1mm grav_b=(+0.05,-0.03,-1.00) r=2.14m +[headless_play] t= 16.90s step= 845 trunk_z= 94.6mm grav_b=(-0.01,-0.14,-0.99) r=2.15m +[headless_play] t= 17.00s step= 850 trunk_z= 98.4mm grav_b=(-0.10,-0.03,-0.99) r=2.15m +[headless_play] t= 17.10s step= 855 trunk_z= 98.3mm grav_b=(+0.03,+0.15,-0.99) r=2.15m +[headless_play] t= 17.20s step= 860 trunk_z= 95.5mm grav_b=(-0.01,-0.01,-1.00) r=2.15m +[headless_play] t= 17.30s step= 865 trunk_z= 94.8mm grav_b=(+0.03,-0.00,-1.00) r=2.16m +[headless_play] t= 17.40s step= 870 trunk_z= 90.9mm grav_b=(-0.00,+0.13,-0.99) r=2.17m +[headless_play] t= 17.50s step= 875 trunk_z= 89.1mm grav_b=(-0.05,-0.08,-1.00) r=2.18m +[headless_play] t= 17.60s step= 880 trunk_z= 93.8mm grav_b=(+0.03,+0.03,-1.00) r=2.19m +[headless_play] t= 17.70s step= 885 trunk_z= 97.9mm grav_b=(+0.06,+0.13,-0.99) r=2.19m +[headless_play] t= 17.80s step= 890 trunk_z= 98.1mm grav_b=(+0.00,-0.06,-1.00) r=2.21m +[headless_play] t= 17.90s step= 895 trunk_z= 97.2mm grav_b=(-0.09,-0.06,-0.99) r=2.22m +[headless_play] t= 18.00s step= 900 trunk_z= 92.9mm grav_b=(-0.03,+0.09,-1.00) r=2.22m +[headless_play] t= 18.10s step= 905 trunk_z= 96.2mm grav_b=(+0.00,+0.01,-1.00) r=2.22m +[headless_play] t= 18.20s step= 910 trunk_z= 96.8mm grav_b=(+0.03,-0.08,-1.00) r=2.23m +[headless_play] t= 18.30s step= 915 trunk_z= 92.6mm grav_b=(+0.03,+0.07,-1.00) r=2.23m +[headless_play] t= 18.40s step= 920 trunk_z= 92.2mm grav_b=(-0.07,-0.01,-1.00) r=2.24m +[headless_play] t= 18.50s step= 925 trunk_z= 92.6mm grav_b=(+0.04,+0.01,-1.00) r=2.25m +[headless_play] t= 18.60s step= 930 trunk_z= 97.3mm grav_b=(+0.04,+0.08,-1.00) r=2.24m +[headless_play] t= 18.70s step= 935 trunk_z= 92.5mm grav_b=(-0.02,-0.12,-0.99) r=2.25m +[headless_play] t= 18.80s step= 940 trunk_z= 99.4mm grav_b=(-0.09,-0.08,-0.99) r=2.26m +[headless_play] t= 18.90s step= 945 trunk_z= 95.3mm grav_b=(-0.03,+0.09,-0.99) r=2.26m +[headless_play] t= 19.00s step= 950 trunk_z= 96.0mm grav_b=(-0.00,+0.02,-1.00) r=2.26m +[headless_play] t= 19.10s step= 955 trunk_z= 94.9mm grav_b=(+0.02,-0.02,-1.00) r=2.27m +[headless_play] t= 19.20s step= 960 trunk_z= 92.9mm grav_b=(+0.02,+0.10,-0.99) r=2.27m +[headless_play] t= 19.30s step= 965 trunk_z= 92.1mm grav_b=(-0.03,-0.04,-1.00) r=2.28m +[headless_play] t= 19.40s step= 970 trunk_z= 94.1mm grav_b=(+0.02,+0.08,-1.00) r=2.28m +[headless_play] t= 19.50s step= 975 trunk_z= 91.9mm grav_b=(-0.05,-0.03,-1.00) r=2.26m +[headless_play] t= 19.60s step= 980 trunk_z= 93.4mm grav_b=(-0.04,+0.07,-1.00) r=2.25m +[headless_play] t= 19.70s step= 985 trunk_z= 93.0mm grav_b=(-0.00,+0.01,-1.00) r=2.25m +[headless_play] t= 19.80s step= 990 trunk_z= 94.2mm grav_b=(+0.00,+0.04,-1.00) r=2.25m +[headless_play] t= 19.90s step= 995 trunk_z= 96.1mm grav_b=(-0.00,-0.06,-1.00) r=2.26m +[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=0.41m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(-0.03,+0.02,-1.00) r=0.41m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..451b1560128714457cc1fc2b0c4d06db01a1c116 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.161,-17.627,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.4mm grav_b=(-0.01,-0.00,-1.00) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,+0.01,-1.00) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 0.30s step= 15 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.40m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 116.8mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.03,+0.00,-1.00) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 116.7mm grav_b=(+0.03,+0.00,-1.00) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 117.1mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00) r=0.40m +[headless_play] t= 4.30s step= 215 trunk_z= 117.2mm grav_b=(-0.01,+0.01,-1.00) r=0.41m +[headless_play] t= 4.40s step= 220 trunk_z= 119.3mm grav_b=(+0.00,+0.05,-1.00) r=0.41m +[headless_play] t= 4.50s step= 225 trunk_z= 121.3mm grav_b=(+0.02,+0.02,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 120.9mm grav_b=(+0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 121.4mm grav_b=(-0.00,+0.06,-1.00) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 120.1mm grav_b=(-0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(-0.02,+0.06,-1.00) r=0.39m +[headless_play] t= 5.00s step= 250 trunk_z= 120.9mm grav_b=(+0.00,-0.03,-1.00) r=0.37m +[headless_play] t= 5.10s step= 255 trunk_z= 119.7mm grav_b=(+0.01,+0.08,-1.00) r=0.35m +[headless_play] t= 5.20s step= 260 trunk_z= 118.3mm grav_b=(-0.05,-0.05,-1.00) r=0.34m +[headless_play] t= 5.30s step= 265 trunk_z= 121.1mm grav_b=(-0.04,-0.00,-1.00) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 122.1mm grav_b=(-0.02,+0.07,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 119.5mm grav_b=(+0.03,-0.05,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 119.5mm grav_b=(+0.00,+0.06,-1.00) r=0.30m +[headless_play] t= 5.70s step= 285 trunk_z= 119.7mm grav_b=(-0.01,+0.00,-1.00) r=0.29m +[headless_play] t= 5.80s step= 290 trunk_z= 121.4mm grav_b=(-0.01,-0.03,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 118.8mm grav_b=(-0.04,+0.10,-0.99) r=0.27m +[headless_play] t= 6.00s step= 300 trunk_z= 120.9mm grav_b=(-0.03,-0.05,-1.00) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 122.2mm grav_b=(+0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 6.20s step= 310 trunk_z= 116.6mm grav_b=(-0.05,+0.13,-0.99) r=0.25m +[headless_play] t= 6.30s step= 315 trunk_z= 124.6mm grav_b=(-0.05,+0.08,-1.00) r=0.23m +[headless_play] t= 6.40s step= 320 trunk_z= 120.5mm grav_b=(-0.02,-0.10,-0.99) r=0.22m +[headless_play] t= 6.50s step= 325 trunk_z= 120.5mm grav_b=(+0.02,+0.02,-1.00) r=0.21m +[headless_play] t= 6.60s step= 330 trunk_z= 124.0mm grav_b=(+0.01,+0.09,-1.00) r=0.21m +[headless_play] t= 6.70s step= 335 trunk_z= 118.7mm grav_b=(-0.03,-0.10,-0.99) r=0.19m +[headless_play] t= 6.80s step= 340 trunk_z= 124.8mm grav_b=(-0.03,-0.07,-1.00) r=0.18m +[headless_play] t= 6.90s step= 345 trunk_z= 121.3mm grav_b=(-0.02,+0.09,-1.00) r=0.18m +[headless_play] t= 7.00s step= 350 trunk_z= 124.8mm grav_b=(+0.02,+0.05,-1.00) r=0.18m +[headless_play] t= 7.10s step= 355 trunk_z= 120.7mm grav_b=(-0.00,-0.09,-1.00) r=0.18m +[headless_play] t= 7.20s step= 360 trunk_z= 122.4mm grav_b=(-0.03,-0.01,-1.00) r=0.18m +[headless_play] t= 7.30s step= 365 trunk_z= 125.1mm grav_b=(-0.02,+0.11,-0.99) r=0.18m +[headless_play] t= 7.40s step= 370 trunk_z= 119.0mm grav_b=(+0.01,-0.02,-1.00) r=0.17m +[headless_play] t= 7.50s step= 375 trunk_z= 121.0mm grav_b=(+0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 7.60s step= 380 trunk_z= 123.0mm grav_b=(-0.00,+0.11,-0.99) r=0.18m +[headless_play] t= 7.70s step= 385 trunk_z= 122.1mm grav_b=(-0.01,-0.01,-1.00) r=0.18m +[headless_play] t= 7.80s step= 390 trunk_z= 121.8mm grav_b=(-0.01,-0.05,-1.00) r=0.18m +[headless_play] t= 7.90s step= 395 trunk_z= 118.3mm grav_b=(-0.02,+0.08,-1.00) r=0.18m +[headless_play] t= 8.00s step= 400 trunk_z= 124.6mm grav_b=(-0.01,+0.04,-1.00) r=0.19m +[headless_play] t= 8.10s step= 405 trunk_z= 119.8mm grav_b=(+0.00,-0.06,-1.00) r=0.19m +[headless_play] t= 8.20s step= 410 trunk_z= 120.4mm grav_b=(-0.03,+0.05,-1.00) r=0.20m +[headless_play] t= 8.30s step= 415 trunk_z= 125.1mm grav_b=(-0.03,+0.08,-1.00) r=0.21m +[headless_play] t= 8.40s step= 420 trunk_z= 120.2mm grav_b=(-0.02,-0.10,-0.99) r=0.22m +[headless_play] t= 8.50s step= 425 trunk_z= 121.6mm grav_b=(+0.01,+0.01,-1.00) r=0.23m +[headless_play] t= 8.60s step= 430 trunk_z= 124.3mm grav_b=(-0.00,+0.12,-0.99) r=0.24m +[headless_play] t= 8.70s step= 435 trunk_z= 120.6mm grav_b=(-0.04,-0.03,-1.00) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 123.8mm grav_b=(+0.00,-0.06,-1.00) r=0.27m +[headless_play] t= 8.90s step= 445 trunk_z= 118.5mm grav_b=(+0.01,+0.10,-0.99) r=0.29m +[headless_play] t= 9.00s step= 450 trunk_z= 125.2mm grav_b=(-0.03,+0.11,-0.99) r=0.30m +[headless_play] t= 9.10s step= 455 trunk_z= 117.1mm grav_b=(-0.04,-0.03,-1.00) r=0.32m +[headless_play] t= 9.20s step= 460 trunk_z= 120.0mm grav_b=(+0.04,-0.01,-1.00) r=0.33m +[headless_play] t= 9.30s step= 465 trunk_z= 114.6mm grav_b=(+0.06,+0.10,-0.99) r=0.34m +[headless_play] t= 9.40s step= 470 trunk_z= 119.2mm grav_b=(-0.04,-0.06,-1.00) r=0.35m +[headless_play] t= 9.50s step= 475 trunk_z= 121.5mm grav_b=(+0.03,-0.09,-1.00) r=0.37m +[headless_play] t= 9.60s step= 480 trunk_z= 114.4mm grav_b=(-0.00,+0.05,-1.00) r=0.38m +[headless_play] t= 9.70s step= 485 trunk_z= 120.2mm grav_b=(-0.04,+0.03,-1.00) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 115.8mm grav_b=(-0.02,-0.13,-0.99) r=0.41m +[headless_play] t= 9.90s step= 495 trunk_z= 114.6mm grav_b=(+0.06,+0.01,-1.00) r=0.43m +[headless_play] t= 10.00s step= 500 trunk_z= 120.1mm grav_b=(+0.02,+0.11,-0.99) r=0.45m +[headless_play] t= 10.10s step= 505 trunk_z= 118.2mm grav_b=(-0.00,-0.04,-1.00) r=0.46m +[headless_play] t= 10.20s step= 510 trunk_z= 119.9mm grav_b=(+0.01,-0.04,-1.00) r=0.48m +[headless_play] t= 10.30s step= 515 trunk_z= 112.2mm grav_b=(+0.02,+0.11,-0.99) r=0.50m +[headless_play] t= 10.40s step= 520 trunk_z= 119.0mm grav_b=(-0.02,-0.02,-1.00) r=0.52m +[headless_play] t= 10.50s step= 525 trunk_z= 120.1mm grav_b=(+0.01,-0.08,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 113.8mm grav_b=(+0.04,+0.05,-1.00) r=0.55m +[headless_play] t= 10.70s step= 535 trunk_z= 119.0mm grav_b=(-0.01,+0.02,-1.00) r=0.56m +[headless_play] t= 10.80s step= 540 trunk_z= 118.2mm grav_b=(-0.01,-0.11,-0.99) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(+0.08,-0.02,-1.00) r=0.61m +[headless_play] t= 11.00s step= 550 trunk_z= 116.7mm grav_b=(+0.06,+0.05,-1.00) r=0.64m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(-0.02,-0.11,-0.99) r=0.68m +[headless_play] t= 11.20s step= 560 trunk_z= 122.8mm grav_b=(-0.01,-0.05,-1.00) r=0.71m +[headless_play] t= 11.30s step= 565 trunk_z= 116.7mm grav_b=(+0.03,+0.06,-1.00) r=0.74m +[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.77m +[headless_play] t= 11.50s step= 575 trunk_z= 110.9mm grav_b=(+0.03,+0.07,-1.00) r=0.79m +[headless_play] t= 11.60s step= 580 trunk_z= 107.5mm grav_b=(+0.05,+0.28,-0.96) r=0.81m +[headless_play] t= 11.70s step= 585 trunk_z= 99.5mm grav_b=(+0.26,+0.13,-0.96) r=0.84m +[headless_play] t= 11.80s step= 590 trunk_z= 93.2mm grav_b=(-0.01,+0.04,-1.00) r=0.87m +[headless_play] t= 11.90s step= 595 trunk_z= 89.0mm grav_b=(-0.02,+0.05,-1.00) r=0.89m +[headless_play] t= 12.00s step= 600 trunk_z= 90.9mm grav_b=(+0.08,-0.26,-0.96) r=0.93m +[headless_play] t= 12.10s step= 605 trunk_z= 99.2mm grav_b=(+0.02,-0.13,-0.99) r=0.94m +[headless_play] t= 12.20s step= 610 trunk_z= 92.7mm grav_b=(-0.09,+0.10,-0.99) r=0.97m +[headless_play] t= 12.30s step= 615 trunk_z= 100.9mm grav_b=(-0.03,+0.04,-1.00) r=0.99m +[headless_play] t= 12.40s step= 620 trunk_z= 97.3mm grav_b=(-0.04,-0.04,-1.00) r=1.01m +[headless_play] t= 12.50s step= 625 trunk_z= 91.9mm grav_b=(+0.03,+0.07,-1.00) r=1.02m +[headless_play] t= 12.60s step= 630 trunk_z= 98.9mm grav_b=(+0.01,+0.01,-1.00) r=1.03m +[headless_play] t= 12.70s step= 635 trunk_z= 97.4mm grav_b=(-0.02,-0.11,-0.99) r=1.05m +[headless_play] t= 12.80s step= 640 trunk_z= 96.0mm grav_b=(+0.01,+0.00,-1.00) r=1.06m +[headless_play] t= 12.90s step= 645 trunk_z= 94.9mm grav_b=(+0.02,+0.03,-1.00) r=1.08m +[headless_play] t= 13.00s step= 650 trunk_z= 92.0mm grav_b=(-0.03,-0.11,-0.99) r=1.09m +[headless_play] t= 13.10s step= 655 trunk_z= 94.5mm grav_b=(+0.02,+0.01,-1.00) r=1.10m +[headless_play] t= 13.20s step= 660 trunk_z= 96.6mm grav_b=(+0.01,+0.09,-1.00) r=1.12m +[headless_play] t= 13.30s step= 665 trunk_z= 93.8mm grav_b=(-0.02,-0.06,-1.00) r=1.13m +[headless_play] t= 13.40s step= 670 trunk_z= 99.8mm grav_b=(+0.02,-0.06,-1.00) r=1.15m +[headless_play] t= 13.50s step= 675 trunk_z= 94.4mm grav_b=(+0.01,+0.11,-0.99) r=1.17m +[headless_play] t= 13.60s step= 680 trunk_z= 98.5mm grav_b=(-0.01,+0.09,-1.00) r=1.19m +[headless_play] t= 13.70s step= 685 trunk_z= 91.6mm grav_b=(-0.02,-0.07,-1.00) r=1.21m +[headless_play] t= 13.80s step= 690 trunk_z= 93.0mm grav_b=(-0.01,+0.03,-1.00) r=1.22m +[headless_play] t= 13.90s step= 695 trunk_z= 89.8mm grav_b=(+0.07,+0.10,-0.99) r=1.23m +[headless_play] t= 14.00s step= 700 trunk_z= 91.2mm grav_b=(+0.06,-0.00,-1.00) r=1.24m +[headless_play] t= 14.10s step= 705 trunk_z= 91.3mm grav_b=(-0.00,-0.09,-1.00) r=1.25m +[headless_play] t= 14.20s step= 710 trunk_z= 89.9mm grav_b=(+0.00,+0.04,-1.00) r=1.26m +[headless_play] t= 14.30s step= 715 trunk_z= 92.0mm grav_b=(+0.03,+0.05,-1.00) r=1.28m +[headless_play] t= 14.40s step= 720 trunk_z= 89.6mm grav_b=(+0.09,-0.01,-1.00) r=1.28m +[headless_play] t= 14.50s step= 725 trunk_z= 89.2mm grav_b=(+0.07,-0.07,-1.00) r=1.29m +[headless_play] t= 14.60s step= 730 trunk_z= 89.0mm grav_b=(-0.02,+0.08,-1.00) r=1.29m +[headless_play] t= 14.70s step= 735 trunk_z= 94.1mm grav_b=(-0.03,+0.04,-1.00) r=1.29m +[headless_play] t= 14.80s step= 740 trunk_z= 83.6mm grav_b=(+0.08,-0.10,-0.99) r=1.29m +[headless_play] t= 14.90s step= 745 trunk_z= 81.6mm grav_b=(+0.16,-0.09,-0.98) r=1.28m +[headless_play] t= 15.00s step= 750 trunk_z= 94.0mm grav_b=(-0.06,-0.02,-1.00) r=1.28m +[headless_play] t= 15.10s step= 755 trunk_z= 94.9mm grav_b=(+0.00,+0.08,-1.00) r=1.30m +[headless_play] t= 15.20s step= 760 trunk_z= 89.6mm grav_b=(+0.02,-0.10,-1.00) r=1.33m +[headless_play] t= 15.30s step= 765 trunk_z= 87.1mm grav_b=(+0.01,+0.13,-0.99) r=1.37m +[headless_play] t= 15.40s step= 770 trunk_z= 91.2mm grav_b=(-0.02,+0.11,-0.99) r=1.40m +[headless_play] t= 15.50s step= 775 trunk_z= 85.6mm grav_b=(+0.06,-0.05,-1.00) r=1.42m +[headless_play] t= 15.60s step= 780 trunk_z= 86.3mm grav_b=(+0.03,+0.06,-1.00) r=1.44m +[headless_play] t= 15.70s step= 785 trunk_z= 88.4mm grav_b=(-0.01,+0.10,-1.00) r=1.46m +[headless_play] t= 15.80s step= 790 trunk_z= 89.5mm grav_b=(+0.10,-0.02,-0.99) r=1.47m +[headless_play] t= 15.90s step= 795 trunk_z= 91.0mm grav_b=(+0.05,-0.08,-1.00) r=1.47m +[headless_play] t= 16.00s step= 800 trunk_z= 89.8mm grav_b=(-0.01,+0.06,-1.00) r=1.48m +[headless_play] t= 16.10s step= 805 trunk_z= 95.2mm grav_b=(-0.05,+0.06,-1.00) r=1.48m +[headless_play] t= 16.20s step= 810 trunk_z= 79.5mm grav_b=(-0.06,-0.14,-0.99) r=1.48m +[headless_play] t= 16.30s step= 815 trunk_z= 76.4mm grav_b=(+0.11,-0.09,-0.99) r=1.47m +[headless_play] t= 16.40s step= 820 trunk_z= 83.9mm grav_b=(+0.10,+0.07,-0.99) r=1.47m +[headless_play] t= 16.50s step= 825 trunk_z= 95.1mm grav_b=(+0.07,-0.08,-0.99) r=1.47m +[headless_play] t= 16.60s step= 830 trunk_z= 87.1mm grav_b=(-0.08,-0.06,-1.00) r=1.47m +[headless_play] t= 16.70s step= 835 trunk_z= 91.6mm grav_b=(-0.05,+0.03,-1.00) r=1.49m +[headless_play] t= 16.80s step= 840 trunk_z= 94.2mm grav_b=(-0.03,-0.07,-1.00) r=1.49m +[headless_play] t= 16.90s step= 845 trunk_z= 94.5mm grav_b=(-0.02,+0.02,-1.00) r=1.50m +[headless_play] t= 17.00s step= 850 trunk_z= 95.6mm grav_b=(-0.04,-0.05,-1.00) r=1.50m +[headless_play] t= 17.10s step= 855 trunk_z= 94.5mm grav_b=(-0.03,+0.01,-1.00) r=1.50m +[headless_play] t= 17.20s step= 860 trunk_z= 94.5mm grav_b=(-0.02,+0.01,-1.00) r=1.50m +[headless_play] t= 17.30s step= 865 trunk_z= 95.3mm grav_b=(-0.02,+0.01,-1.00) r=1.50m +[headless_play] t= 17.40s step= 870 trunk_z= 95.6mm grav_b=(-0.03,-0.01,-1.00) r=1.50m +[headless_play] t= 17.50s step= 875 trunk_z= 95.6mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 17.60s step= 880 trunk_z= 95.7mm grav_b=(-0.04,-0.00,-1.00) r=1.50m +[headless_play] t= 17.70s step= 885 trunk_z= 96.0mm grav_b=(-0.03,-0.01,-1.00) r=1.50m +[headless_play] t= 17.80s step= 890 trunk_z= 96.1mm grav_b=(-0.03,-0.01,-1.00) r=1.50m +[headless_play] t= 17.90s step= 895 trunk_z= 96.3mm grav_b=(-0.03,-0.01,-1.00) r=1.50m +[headless_play] t= 18.00s step= 900 trunk_z= 96.2mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.10s step= 905 trunk_z= 96.3mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.20s step= 910 trunk_z= 96.3mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.30s step= 915 trunk_z= 96.4mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.40s step= 920 trunk_z= 96.4mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.50s step= 925 trunk_z= 96.3mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.60s step= 930 trunk_z= 96.5mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.70s step= 935 trunk_z= 96.5mm grav_b=(-0.04,-0.01,-1.00) r=1.50m +[headless_play] t= 18.80s step= 940 trunk_z= 96.5mm grav_b=(-0.03,-0.02,-1.00) r=1.50m +[headless_play] t= 18.90s step= 945 trunk_z= 96.1mm grav_b=(-0.03,+0.01,-1.00) r=1.50m +[headless_play] t= 19.00s step= 950 trunk_z= 95.8mm grav_b=(-0.03,-0.05,-1.00) r=1.50m +[headless_play] t= 19.10s step= 955 trunk_z= 95.0mm grav_b=(-0.04,+0.03,-1.00) r=1.50m +[headless_play] t= 19.20s step= 960 trunk_z= 93.8mm grav_b=(-0.02,-0.01,-1.00) r=1.50m +[headless_play] t= 19.30s step= 965 trunk_z= 101.7mm grav_b=(+0.13,-0.15,-0.98) r=1.45m +[headless_play] t= 19.40s step= 970 trunk_z= 97.3mm grav_b=(+0.20,-0.08,-0.98) r=1.40m +[headless_play] t= 19.50s step= 975 trunk_z= 60.8mm grav_b=(+0.03,+0.08,-1.00) r=1.37m +[headless_play] t= 19.60s step= 980 trunk_z= 87.7mm grav_b=(+0.06,-0.14,-0.99) r=1.34m +[headless_play] t= 19.70s step= 985 trunk_z= 83.7mm grav_b=(-0.18,-0.23,-0.96) r=1.31m +[headless_play] t= 19.80s step= 990 trunk_z= 80.1mm grav_b=(-0.34,+0.00,-0.94) r=1.29m +[headless_play] t= 19.90s step= 995 trunk_z= 65.9mm grav_b=(-0.30,+0.03,-0.95) r=1.27m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.7mm grav_b=(-0.01,+0.00,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.02,+0.04,-1.00) r=0.27m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..e6a598c685123bcea524c5f556d820b5caa57793 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t12.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.102,-17.655,+0.253) +[headless_play] t= 0.00s step= 0 trunk_z= 123.8mm grav_b=(-0.01,+0.00,-1.00) r=0.36m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.02,+0.04,-1.00) r=0.36m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 115.8mm grav_b=(+0.03,+0.01,-1.00) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 113.9mm grav_b=(+0.00,+0.09,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(+0.04,-0.03,-1.00) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 113.2mm grav_b=(+0.05,-0.06,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 111.9mm grav_b=(+0.03,+0.09,-1.00) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 115.4mm grav_b=(+0.03,-0.05,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.02,-0.03,-1.00) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 112.6mm grav_b=(+0.01,+0.09,-1.00) r=0.43m +[headless_play] t= 1.10s step= 55 trunk_z= 113.8mm grav_b=(+0.04,-0.04,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 113.2mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 111.2mm grav_b=(+0.02,+0.09,-1.00) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 113.1mm grav_b=(+0.04,-0.04,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) r=0.47m +[headless_play] t= 1.60s step= 80 trunk_z= 111.7mm grav_b=(+0.01,+0.09,-1.00) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(+0.04,-0.05,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 113.3mm grav_b=(+0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 113.1mm grav_b=(+0.01,+0.10,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(+0.04,-0.06,-1.00) r=0.51m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(+0.03,-0.02,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 111.1mm grav_b=(+0.00,+0.09,-1.00) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 115.3mm grav_b=(+0.05,-0.02,-1.00) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 112.5mm grav_b=(+0.04,-0.07,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 111.0mm grav_b=(-0.00,+0.09,-1.00) r=0.56m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.07,+0.00,-1.00) r=0.57m +[headless_play] t= 2.70s step= 135 trunk_z= 113.0mm grav_b=(-0.01,-0.10,-0.99) r=0.58m +[headless_play] t= 2.80s step= 140 trunk_z= 112.2mm grav_b=(+0.03,+0.02,-1.00) r=0.59m +[headless_play] t= 2.90s step= 145 trunk_z= 114.6mm grav_b=(+0.06,+0.04,-1.00) r=0.60m +[headless_play] t= 3.00s step= 150 trunk_z= 112.9mm grav_b=(+0.01,-0.14,-0.99) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(+0.01,-0.05,-1.00) r=0.62m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.03,+0.07,-1.00) r=0.64m +[headless_play] t= 3.30s step= 165 trunk_z= 114.6mm grav_b=(+0.06,-0.07,-1.00) r=0.65m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(+0.03,-0.09,-1.00) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 112.3mm grav_b=(+0.00,+0.06,-1.00) r=0.67m +[headless_play] t= 3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.03,-0.03,-1.00) r=0.68m +[headless_play] t= 3.70s step= 185 trunk_z= 113.7mm grav_b=(+0.02,-0.08,-1.00) r=0.69m +[headless_play] t= 3.80s step= 190 trunk_z= 111.3mm grav_b=(+0.04,+0.08,-1.00) r=0.71m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(+0.05,+0.01,-1.00) r=0.72m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(+0.00,-0.10,-1.00) r=0.73m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(+0.01,+0.04,-1.00) r=0.74m +[headless_play] t= 4.20s step= 210 trunk_z= 114.5mm grav_b=(+0.04,+0.02,-1.00) r=0.75m +[headless_play] t= 4.30s step= 215 trunk_z= 113.1mm grav_b=(+0.02,-0.11,-0.99) r=0.76m +[headless_play] t= 4.40s step= 220 trunk_z= 111.9mm grav_b=(+0.04,+0.03,-1.00) r=0.77m +[headless_play] t= 4.50s step= 225 trunk_z= 113.8mm grav_b=(+0.05,+0.04,-1.00) r=0.78m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(+0.02,-0.14,-0.99) r=0.80m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.00,-0.04,-1.00) r=0.80m +[headless_play] t= 4.80s step= 240 trunk_z= 117.6mm grav_b=(+0.02,+0.07,-1.00) r=0.81m +[headless_play] t= 4.90s step= 245 trunk_z= 118.1mm grav_b=(+0.02,-0.12,-0.99) r=0.82m +[headless_play] t= 5.00s step= 250 trunk_z= 122.3mm grav_b=(-0.01,-0.08,-1.00) r=0.83m +[headless_play] t= 5.10s step= 255 trunk_z= 119.3mm grav_b=(-0.02,+0.08,-1.00) r=0.84m +[headless_play] t= 5.20s step= 260 trunk_z= 116.8mm grav_b=(-0.04,-0.07,-1.00) r=0.85m +[headless_play] t= 5.30s step= 265 trunk_z= 118.6mm grav_b=(-0.02,-0.01,-1.00) r=0.86m +[headless_play] t= 5.40s step= 270 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=0.86m +[headless_play] t= 5.50s step= 275 trunk_z= 119.8mm grav_b=(-0.02,-0.03,-1.00) r=0.87m +[headless_play] t= 5.60s step= 280 trunk_z= 119.4mm grav_b=(-0.01,+0.06,-1.00) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 122.0mm grav_b=(+0.03,-0.06,-1.00) r=0.91m +[headless_play] t= 5.80s step= 290 trunk_z= 123.3mm grav_b=(+0.04,-0.02,-1.00) r=0.93m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(-0.02,+0.14,-0.99) r=0.96m +[headless_play] t= 6.00s step= 300 trunk_z= 122.2mm grav_b=(-0.02,+0.08,-1.00) r=0.98m +[headless_play] t= 6.10s step= 305 trunk_z= 117.5mm grav_b=(-0.04,-0.08,-1.00) r=1.00m +[headless_play] t= 6.20s step= 310 trunk_z= 119.6mm grav_b=(-0.02,-0.00,-1.00) r=1.01m +[headless_play] t= 6.30s step= 315 trunk_z= 121.8mm grav_b=(+0.01,+0.12,-0.99) r=1.03m +[headless_play] t= 6.40s step= 320 trunk_z= 115.8mm grav_b=(+0.02,-0.09,-1.00) r=1.05m +[headless_play] t= 6.50s step= 325 trunk_z= 117.5mm grav_b=(+0.01,-0.05,-1.00) r=1.07m +[headless_play] t= 6.60s step= 330 trunk_z= 102.3mm grav_b=(-0.04,+0.16,-0.99) r=1.11m +[headless_play] t= 6.70s step= 335 trunk_z= 102.8mm grav_b=(-0.13,+0.13,-0.98) r=1.16m +[headless_play] t= 6.80s step= 340 trunk_z= 82.1mm grav_b=(-0.02,+0.04,-1.00) r=1.21m +[headless_play] t= 6.90s step= 345 trunk_z= 68.2mm grav_b=(+0.20,+0.18,-0.96) r=1.24m +[headless_play] t= 7.00s step= 350 trunk_z= 79.6mm grav_b=(+0.12,-0.07,-0.99) r=1.28m +[headless_play] t= 7.10s step= 355 trunk_z= 84.4mm grav_b=(+0.15,-0.01,-0.99) r=1.32m +[headless_play] t= 7.20s step= 360 trunk_z= 60.1mm grav_b=(+0.01,+0.23,-0.97) r=1.39m +[headless_play] t= 7.30s step= 365 trunk_z= 55.0mm grav_b=(-0.14,+0.14,-0.98) r=1.46m +[headless_play] t= 7.40s step= 370 trunk_z= 47.9mm grav_b=(+0.01,+0.09,-1.00) r=1.53m +[headless_play] t= 7.50s step= 375 trunk_z= 37.9mm grav_b=(+0.11,+0.22,-0.97) r=1.59m +[headless_play] t= 7.60s step= 380 trunk_z= 41.5mm grav_b=(+0.15,-0.03,-0.99) r=1.64m +[headless_play] t= 7.70s step= 385 trunk_z= 30.2mm grav_b=(+0.00,-0.14,-0.99) r=1.68m +[headless_play] t= 7.80s step= 390 trunk_z= 26.9mm grav_b=(-0.03,+0.08,-1.00) r=1.73m +[headless_play] t= 7.90s step= 395 trunk_z= 34.3mm grav_b=(-0.09,+0.12,-0.99) r=1.77m +[headless_play] t= 8.00s step= 400 trunk_z= 29.9mm grav_b=(-0.05,-0.03,-1.00) r=1.81m +[headless_play] t= 8.10s step= 405 trunk_z= 28.3mm grav_b=(-0.02,+0.11,-0.99) r=1.84m +[headless_play] t= 8.20s step= 410 trunk_z= 25.8mm grav_b=(-0.00,+0.09,-1.00) r=1.87m +[headless_play] t= 8.30s step= 415 trunk_z= 23.0mm grav_b=(-0.01,+0.08,-1.00) r=1.89m +[headless_play] t= 8.40s step= 420 trunk_z= 22.1mm grav_b=(-0.01,+0.09,-1.00) r=1.91m +[headless_play] t= 8.50s step= 425 trunk_z= 21.6mm grav_b=(-0.01,+0.09,-1.00) r=1.91m +[headless_play] t= 8.60s step= 430 trunk_z= 21.4mm grav_b=(-0.01,+0.09,-1.00) r=1.92m +[headless_play] t= 8.70s step= 435 trunk_z= 21.3mm grav_b=(-0.02,+0.09,-1.00) r=1.91m +[headless_play] t= 8.80s step= 440 trunk_z= 21.3mm grav_b=(-0.02,+0.09,-1.00) r=1.91m +[headless_play] t= 8.90s step= 445 trunk_z= 21.3mm grav_b=(-0.02,+0.09,-1.00) r=1.92m +[headless_play] t= 9.00s step= 450 trunk_z= 21.2mm grav_b=(-0.02,+0.09,-1.00) r=1.92m +[headless_play] t= 9.10s step= 455 trunk_z= 21.2mm grav_b=(-0.03,+0.09,-1.00) r=1.92m +[headless_play] t= 9.20s step= 460 trunk_z= 21.2mm grav_b=(-0.03,+0.09,-1.00) r=1.92m +[headless_play] t= 9.30s step= 465 trunk_z= 21.2mm grav_b=(-0.02,+0.09,-1.00) r=1.92m +[headless_play] t= 9.40s step= 470 trunk_z= 21.2mm grav_b=(-0.02,+0.09,-1.00) r=1.92m +[headless_play] t= 9.50s step= 475 trunk_z= 21.2mm grav_b=(-0.02,+0.09,-1.00) r=1.92m +[headless_play] t= 9.60s step= 480 trunk_z= 20.2mm grav_b=(-0.02,+0.09,-1.00) r=1.93m +[headless_play] t= 9.70s step= 485 trunk_z= 15.2mm grav_b=(+0.02,+0.09,-1.00) r=2.01m +[headless_play] t= 9.80s step= 490 trunk_z= 11.9mm grav_b=(+0.03,+0.09,-1.00) r=2.08m +[headless_play] t= 9.90s step= 495 trunk_z= 8.7mm grav_b=(+0.04,+0.08,-1.00) r=2.14m +[headless_play] t= 10.00s step= 500 trunk_z= 6.8mm grav_b=(+0.06,+0.07,-1.00) r=2.19m +[headless_play] t= 10.10s step= 505 trunk_z= 5.0mm grav_b=(+0.08,+0.01,-1.00) r=2.24m +[headless_play] t= 10.20s step= 510 trunk_z= 4.4mm grav_b=(+0.07,+0.05,-1.00) r=2.27m +[headless_play] t= 10.30s step= 515 trunk_z= -0.6mm grav_b=(+0.00,+0.08,-1.00) r=2.31m +[headless_play] t= 10.40s step= 520 trunk_z= -7.5mm grav_b=(-0.02,-0.07,-1.00) r=2.33m +[headless_play] t= 10.50s step= 525 trunk_z= -5.0mm grav_b=(-0.05,+0.03,-1.00) r=2.36m +[headless_play] t= 10.60s step= 530 trunk_z= -5.0mm grav_b=(-0.07,+0.04,-1.00) r=2.38m +[headless_play] t= 10.70s step= 535 trunk_z= -7.4mm grav_b=(-0.07,+0.04,-1.00) r=2.39m +[headless_play] t= 10.80s step= 540 trunk_z= -6.7mm grav_b=(-0.03,+0.04,-1.00) r=2.39m +[headless_play] t= 10.90s step= 545 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.00s step= 550 trunk_z= -6.7mm grav_b=(+0.01,+0.03,-1.00) r=2.39m +[headless_play] t= 11.10s step= 555 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.20s step= 560 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.30s step= 565 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.40s step= 570 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.50s step= 575 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.60s step= 580 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.70s step= 585 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.80s step= 590 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 11.90s step= 595 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.00s step= 600 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.10s step= 605 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.20s step= 610 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.30s step= 615 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.40s step= 620 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.50s step= 625 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.60s step= 630 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.70s step= 635 trunk_z= -6.7mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.80s step= 640 trunk_z= -6.8mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 12.90s step= 645 trunk_z= -6.8mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.00s step= 650 trunk_z= -6.9mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.10s step= 655 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.20s step= 660 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.30s step= 665 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.40s step= 670 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.50s step= 675 trunk_z= -6.8mm grav_b=(+0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.60s step= 680 trunk_z= -6.7mm grav_b=(-0.00,+0.03,-1.00) r=2.39m +[headless_play] t= 13.70s step= 685 trunk_z= -6.2mm grav_b=(+0.00,+0.02,-1.00) r=2.39m +[headless_play] t= 13.80s step= 690 trunk_z= -5.4mm grav_b=(+0.01,+0.01,-1.00) r=2.39m +[headless_play] t= 13.90s step= 695 trunk_z= -5.7mm grav_b=(-0.00,+0.01,-1.00) r=2.39m +[headless_play] t= 14.00s step= 700 trunk_z= -5.7mm grav_b=(-0.02,+0.02,-1.00) r=2.39m +[headless_play] t= 14.10s step= 705 trunk_z= -6.0mm grav_b=(-0.01,+0.05,-1.00) r=2.39m +[headless_play] t= 14.20s step= 710 trunk_z= -5.8mm grav_b=(-0.00,-0.02,-1.00) r=2.39m +[headless_play] t= 14.30s step= 715 trunk_z= -2.8mm grav_b=(-0.12,-0.03,-0.99) r=2.37m +[headless_play] t= 14.40s step= 720 trunk_z= -14.7mm grav_b=(-0.07,+0.21,-0.97) r=2.35m +[headless_play] t= 14.50s step= 725 trunk_z= -22.1mm grav_b=(-0.04,+0.17,-0.98) r=2.34m +[headless_play] t= 14.60s step= 730 trunk_z= -24.3mm grav_b=(+0.08,-0.08,-0.99) r=2.33m +[headless_play] t= 14.70s step= 735 trunk_z= -7.7mm grav_b=(-0.01,-0.05,-1.00) r=2.31m +[headless_play] t= 14.80s step= 740 trunk_z= -9.0mm grav_b=(+0.02,+0.07,-1.00) r=2.29m +[headless_play] t= 14.90s step= 745 trunk_z= -6.5mm grav_b=(+0.07,-0.09,-0.99) r=2.29m +[headless_play] t= 15.00s step= 750 trunk_z= 1.4mm grav_b=(-0.00,-0.15,-0.99) r=2.29m +[headless_play] t= 15.10s step= 755 trunk_z= 2.5mm grav_b=(+0.01,+0.01,-1.00) r=2.29m +[headless_play] t= 15.20s step= 760 trunk_z= 0.7mm grav_b=(+0.01,+0.05,-1.00) r=2.29m +[headless_play] t= 15.30s step= 765 trunk_z= -2.9mm grav_b=(-0.08,-0.05,-1.00) r=2.28m +[headless_play] t= 15.40s step= 770 trunk_z= -1.8mm grav_b=(-0.05,+0.07,-1.00) r=2.28m +[headless_play] t= 15.50s step= 775 trunk_z= -12.2mm grav_b=(-0.06,+0.14,-0.99) r=2.30m +[headless_play] t= 15.60s step= 780 trunk_z= -19.0mm grav_b=(+0.08,-0.05,-1.00) r=2.32m +[headless_play] t= 15.70s step= 785 trunk_z= -14.4mm grav_b=(-0.02,+0.07,-1.00) r=2.33m +[headless_play] t= 15.80s step= 790 trunk_z= -13.0mm grav_b=(-0.12,+0.21,-0.97) r=2.34m +[headless_play] t= 15.90s step= 795 trunk_z= 0.9mm grav_b=(-0.05,+0.11,-0.99) r=2.35m +[headless_play] t= 16.00s step= 800 trunk_z= -8.6mm grav_b=(+0.08,-0.05,-1.00) r=2.36m +[headless_play] t= 16.10s step= 805 trunk_z= -10.7mm grav_b=(+0.08,-0.08,-0.99) r=2.35m +[headless_play] t= 16.20s step= 810 trunk_z= -15.5mm grav_b=(+0.18,-0.09,-0.98) r=2.35m +[headless_play] t= 16.30s step= 815 trunk_z= -16.9mm grav_b=(+0.12,+0.01,-0.99) r=2.35m +[headless_play] t= 16.40s step= 820 trunk_z= -4.5mm grav_b=(+0.06,-0.16,-0.99) r=2.35m +[headless_play] t= 16.50s step= 825 trunk_z= -5.9mm grav_b=(-0.00,-0.10,-0.99) r=2.36m +[headless_play] t= 16.60s step= 830 trunk_z= -6.7mm grav_b=(-0.10,+0.11,-0.99) r=2.37m +[headless_play] t= 16.70s step= 835 trunk_z= -0.4mm grav_b=(-0.07,+0.13,-0.99) r=2.37m +[headless_play] t= 16.80s step= 840 trunk_z= -6.8mm grav_b=(-0.00,-0.01,-1.00) r=2.38m +[headless_play] t= 16.90s step= 845 trunk_z= -6.7mm grav_b=(+0.00,+0.12,-0.99) r=2.38m +[headless_play] t= 17.00s step= 850 trunk_z= -6.0mm grav_b=(-0.02,+0.07,-1.00) r=2.40m +[headless_play] t= 17.10s step= 855 trunk_z= -12.3mm grav_b=(-0.01,-0.04,-1.00) r=2.41m +[headless_play] t= 17.20s step= 860 trunk_z= -14.7mm grav_b=(+0.03,+0.04,-1.00) r=2.43m +[headless_play] t= 17.30s step= 865 trunk_z= -12.8mm grav_b=(+0.06,+0.04,-1.00) r=2.45m +[headless_play] t= 17.40s step= 870 trunk_z= -13.5mm grav_b=(+0.03,-0.11,-0.99) r=2.45m +[headless_play] t= 17.50s step= 875 trunk_z= -10.9mm grav_b=(+0.05,-0.09,-0.99) r=2.45m +[headless_play] t= 17.60s step= 880 trunk_z= -13.3mm grav_b=(+0.05,+0.01,-1.00) r=2.47m +[headless_play] t= 17.70s step= 885 trunk_z= -8.0mm grav_b=(+0.02,+0.04,-1.00) r=2.49m +[headless_play] t= 17.80s step= 890 trunk_z= -12.9mm grav_b=(+0.00,-0.09,-1.00) r=2.49m +[headless_play] t= 17.90s step= 895 trunk_z= -13.2mm grav_b=(+0.04,+0.02,-1.00) r=2.50m +[headless_play] t= 18.00s step= 900 trunk_z= -11.9mm grav_b=(+0.04,+0.08,-1.00) r=2.52m +[headless_play] t= 18.10s step= 905 trunk_z= -12.1mm grav_b=(+0.06,-0.05,-1.00) r=2.52m +[headless_play] t= 18.20s step= 910 trunk_z= -11.6mm grav_b=(+0.05,-0.06,-1.00) r=2.52m +[headless_play] t= 18.30s step= 915 trunk_z= -11.9mm grav_b=(+0.01,+0.03,-1.00) r=2.52m +[headless_play] t= 18.40s step= 920 trunk_z= -11.8mm grav_b=(+0.03,-0.01,-1.00) r=2.53m +[headless_play] t= 18.50s step= 925 trunk_z= -13.5mm grav_b=(+0.08,+0.02,-1.00) r=2.52m +[headless_play] t= 18.60s step= 930 trunk_z= -12.2mm grav_b=(+0.18,-0.03,-0.98) r=2.50m +[headless_play] t= 18.70s step= 935 trunk_z= -9.0mm grav_b=(+0.12,+0.02,-0.99) r=2.51m +[headless_play] t= 18.80s step= 940 trunk_z= -5.3mm grav_b=(+0.08,+0.01,-1.00) r=2.51m +[headless_play] t= 18.90s step= 945 trunk_z= -6.3mm grav_b=(+0.03,-0.05,-1.00) r=2.52m +[headless_play] t= 19.00s step= 950 trunk_z= -9.3mm grav_b=(-0.06,+0.06,-1.00) r=2.53m +[headless_play] t= 19.10s step= 955 trunk_z= -8.3mm grav_b=(-0.04,+0.03,-1.00) r=2.54m +[headless_play] t= 19.20s step= 960 trunk_z= -8.2mm grav_b=(-0.03,+0.03,-1.00) r=2.54m +[headless_play] t= 19.30s step= 965 trunk_z= -7.9mm grav_b=(-0.03,+0.02,-1.00) r=2.54m +[headless_play] t= 19.40s step= 970 trunk_z= -7.8mm grav_b=(-0.01,+0.02,-1.00) r=2.54m +[headless_play] t= 19.50s step= 975 trunk_z= -7.7mm grav_b=(+0.01,+0.02,-1.00) r=2.54m +[headless_play] t= 19.60s step= 980 trunk_z= -7.6mm grav_b=(+0.02,+0.02,-1.00) r=2.54m +[headless_play] t= 19.70s step= 985 trunk_z= -7.7mm grav_b=(+0.00,+0.02,-1.00) r=2.54m +[headless_play] t= 19.80s step= 990 trunk_z= -7.6mm grav_b=(-0.01,+0.02,-1.00) r=2.54m +[headless_play] t= 19.90s step= 995 trunk_z= -7.6mm grav_b=(-0.00,+0.02,-1.00) r=2.54m +[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=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00) r=0.20m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..42d43029def60e1409deaa3d73f8d0dfefd311eb --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.5mm grav_b=(-0.00,+0.00,-1.00) root_w=(-6.405,-18.218,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.9mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(+0.05,-0.01,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 117.5mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 117.9mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 117.9mm grav_b=(+0.03,-0.00,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 117.9mm grav_b=(+0.06,-0.02,-1.00) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 119.5mm grav_b=(+0.09,-0.03,-1.00) r=0.39m +[headless_play] t= 4.30s step= 215 trunk_z= 122.0mm grav_b=(+0.10,-0.05,-0.99) r=0.37m +[headless_play] t= 4.40s step= 220 trunk_z= 119.7mm grav_b=(+0.06,-0.11,-0.99) r=0.37m +[headless_play] t= 4.50s step= 225 trunk_z= 118.2mm grav_b=(-0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 4.60s step= 230 trunk_z= 116.1mm grav_b=(-0.08,-0.04,-1.00) r=0.35m +[headless_play] t= 4.70s step= 235 trunk_z= 116.2mm grav_b=(-0.06,-0.01,-1.00) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.34m +[headless_play] t= 4.90s step= 245 trunk_z= 119.8mm grav_b=(-0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 121.5mm grav_b=(-0.02,-0.06,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 121.8mm grav_b=(+0.00,-0.06,-1.00) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 121.9mm grav_b=(+0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 122.1mm grav_b=(+0.03,-0.08,-1.00) r=0.32m +[headless_play] t= 5.40s step= 270 trunk_z= 119.8mm grav_b=(-0.01,+0.01,-1.00) r=0.32m +[headless_play] t= 5.50s step= 275 trunk_z= 120.3mm grav_b=(-0.06,-0.05,-1.00) r=0.31m +[headless_play] t= 5.60s step= 280 trunk_z= 122.4mm grav_b=(-0.04,-0.06,-1.00) r=0.31m +[headless_play] t= 5.70s step= 285 trunk_z= 120.9mm grav_b=(-0.04,+0.00,-1.00) r=0.31m +[headless_play] t= 5.80s step= 290 trunk_z= 121.8mm grav_b=(-0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 5.90s step= 295 trunk_z= 122.6mm grav_b=(-0.02,-0.02,-1.00) r=0.30m +[headless_play] t= 6.00s step= 300 trunk_z= 119.8mm grav_b=(-0.05,+0.03,-1.00) r=0.29m +[headless_play] t= 6.10s step= 305 trunk_z= 119.7mm grav_b=(+0.02,-0.15,-0.99) r=0.28m +[headless_play] t= 6.20s step= 310 trunk_z= 125.0mm grav_b=(-0.02,-0.08,-1.00) r=0.28m +[headless_play] t= 6.30s step= 315 trunk_z= 118.5mm grav_b=(-0.08,+0.12,-0.99) r=0.27m +[headless_play] t= 6.40s step= 320 trunk_z= 125.9mm grav_b=(-0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 6.50s step= 325 trunk_z= 124.3mm grav_b=(-0.02,-0.16,-0.99) r=0.24m +[headless_play] t= 6.60s step= 330 trunk_z= 125.7mm grav_b=(+0.01,-0.12,-0.99) r=0.24m +[headless_play] t= 6.70s step= 335 trunk_z= 120.8mm grav_b=(+0.02,+0.06,-1.00) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 121.7mm grav_b=(+0.05,-0.07,-1.00) r=0.23m +[headless_play] t= 6.90s step= 345 trunk_z= 120.8mm grav_b=(+0.07,-0.09,-0.99) r=0.22m +[headless_play] t= 7.00s step= 350 trunk_z= 113.4mm grav_b=(-0.13,+0.08,-0.99) r=0.22m +[headless_play] t= 7.10s step= 355 trunk_z= 122.0mm grav_b=(-0.12,+0.11,-0.99) r=0.20m +[headless_play] t= 7.20s step= 360 trunk_z= 114.4mm grav_b=(-0.12,-0.09,-0.99) r=0.19m +[headless_play] t= 7.30s step= 365 trunk_z= 110.4mm grav_b=(+0.01,-0.16,-0.99) r=0.19m +[headless_play] t= 7.40s step= 370 trunk_z= 105.4mm grav_b=(+0.13,-0.10,-0.99) r=0.20m +[headless_play] t= 7.50s step= 375 trunk_z= 120.1mm grav_b=(+0.10,-0.09,-0.99) r=0.20m +[headless_play] t= 7.60s step= 380 trunk_z= 115.9mm grav_b=(+0.05,-0.19,-0.98) r=0.19m +[headless_play] t= 7.70s step= 385 trunk_z= 122.3mm grav_b=(-0.08,-0.09,-0.99) r=0.19m +[headless_play] t= 7.80s step= 390 trunk_z= 117.2mm grav_b=(-0.11,+0.03,-0.99) r=0.19m +[headless_play] t= 7.90s step= 395 trunk_z= 117.6mm grav_b=(-0.06,-0.07,-1.00) r=0.19m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(-0.06,-0.00,-1.00) r=0.19m +[headless_play] t= 8.10s step= 405 trunk_z= 118.4mm grav_b=(-0.05,-0.06,-1.00) r=0.19m +[headless_play] t= 8.20s step= 410 trunk_z= 119.7mm grav_b=(-0.03,-0.00,-1.00) r=0.19m +[headless_play] t= 8.30s step= 415 trunk_z= 119.0mm grav_b=(-0.04,-0.06,-1.00) r=0.20m +[headless_play] t= 8.40s step= 420 trunk_z= 120.0mm grav_b=(-0.03,-0.01,-1.00) r=0.20m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(-0.04,-0.01,-1.00) r=0.20m +[headless_play] t= 8.60s step= 430 trunk_z= 120.0mm grav_b=(-0.01,-0.05,-1.00) r=0.20m +[headless_play] t= 8.70s step= 435 trunk_z= 119.4mm grav_b=(-0.06,+0.06,-1.00) r=0.20m +[headless_play] t= 8.80s step= 440 trunk_z= 118.4mm grav_b=(-0.05,-0.09,-0.99) r=0.20m +[headless_play] t= 8.90s step= 445 trunk_z= 120.6mm grav_b=(-0.05,+0.03,-1.00) r=0.21m +[headless_play] t= 9.00s step= 450 trunk_z= 119.4mm grav_b=(-0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 9.10s step= 455 trunk_z= 119.7mm grav_b=(-0.03,-0.09,-1.00) r=0.21m +[headless_play] t= 9.20s step= 460 trunk_z= 117.0mm grav_b=(-0.06,+0.08,-1.00) r=0.21m +[headless_play] t= 9.30s step= 465 trunk_z= 117.5mm grav_b=(-0.06,-0.06,-1.00) r=0.20m +[headless_play] t= 9.40s step= 470 trunk_z= 124.3mm grav_b=(+0.01,-0.13,-0.99) r=0.17m +[headless_play] t= 9.50s step= 475 trunk_z= 123.2mm grav_b=(+0.02,-0.03,-1.00) r=0.16m +[headless_play] t= 9.60s step= 480 trunk_z= 119.6mm grav_b=(-0.05,+0.03,-1.00) r=0.15m +[headless_play] t= 9.70s step= 485 trunk_z= 118.2mm grav_b=(-0.05,-0.13,-0.99) r=0.13m +[headless_play] t= 9.80s step= 490 trunk_z= 121.7mm grav_b=(+0.00,-0.02,-1.00) r=0.13m +[headless_play] t= 9.90s step= 495 trunk_z= 119.6mm grav_b=(-0.04,+0.08,-1.00) r=0.13m +[headless_play] t= 10.00s step= 500 trunk_z= 118.0mm grav_b=(-0.05,-0.11,-0.99) r=0.12m +[headless_play] t= 10.10s step= 505 trunk_z= 124.6mm grav_b=(+0.00,-0.09,-1.00) r=0.12m +[headless_play] t= 10.20s step= 510 trunk_z= 118.0mm grav_b=(-0.02,+0.08,-1.00) r=0.13m +[headless_play] t= 10.30s step= 515 trunk_z= 119.7mm grav_b=(-0.02,-0.04,-1.00) r=0.13m +[headless_play] t= 10.40s step= 520 trunk_z= 121.1mm grav_b=(+0.03,-0.10,-0.99) r=0.13m +[headless_play] t= 10.50s step= 525 trunk_z= 115.7mm grav_b=(-0.07,+0.07,-1.00) r=0.15m +[headless_play] t= 10.60s step= 530 trunk_z= 119.7mm grav_b=(-0.06,+0.03,-1.00) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 119.7mm grav_b=(-0.01,-0.13,-0.99) r=0.16m +[headless_play] t= 10.80s step= 540 trunk_z= 118.4mm grav_b=(-0.00,-0.00,-1.00) r=0.17m +[headless_play] t= 10.90s step= 545 trunk_z= 124.5mm grav_b=(+0.00,+0.10,-1.00) r=0.18m +[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(-0.01,-0.11,-0.99) r=0.19m +[headless_play] t= 11.10s step= 555 trunk_z= 120.2mm grav_b=(-0.02,-0.06,-1.00) r=0.20m +[headless_play] t= 11.20s step= 560 trunk_z= 120.9mm grav_b=(-0.04,+0.06,-1.00) r=0.21m +[headless_play] t= 11.30s step= 565 trunk_z= 118.4mm grav_b=(-0.04,-0.09,-0.99) r=0.22m +[headless_play] t= 11.40s step= 570 trunk_z= 119.0mm grav_b=(-0.03,-0.00,-1.00) r=0.23m +[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(-0.02,-0.05,-1.00) r=0.24m +[headless_play] t= 11.60s step= 580 trunk_z= 119.4mm grav_b=(-0.00,-0.02,-1.00) r=0.25m +[headless_play] t= 11.70s step= 585 trunk_z= 117.9mm grav_b=(-0.03,-0.01,-1.00) r=0.26m +[headless_play] t= 11.80s step= 590 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 11.90s step= 595 trunk_z= 118.6mm grav_b=(-0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 12.00s step= 600 trunk_z= 119.8mm grav_b=(+0.01,-0.05,-1.00) r=0.27m +[headless_play] t= 12.10s step= 605 trunk_z= 118.9mm grav_b=(+0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 12.20s step= 610 trunk_z= 119.0mm grav_b=(+0.00,-0.03,-1.00) r=0.27m +[headless_play] t= 12.30s step= 615 trunk_z= 119.2mm grav_b=(-0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 12.40s step= 620 trunk_z= 119.0mm grav_b=(-0.02,-0.03,-1.00) r=0.27m +[headless_play] t= 12.50s step= 625 trunk_z= 119.1mm grav_b=(-0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 12.60s step= 630 trunk_z= 119.2mm grav_b=(-0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 12.70s step= 635 trunk_z= 119.3mm grav_b=(-0.01,-0.04,-1.00) r=0.27m +[headless_play] t= 12.80s step= 640 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 12.90s step= 645 trunk_z= 119.3mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 13.00s step= 650 trunk_z= 119.3mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 13.10s step= 655 trunk_z= 119.5mm grav_b=(-0.01,-0.02,-1.00) r=0.27m +[headless_play] t= 13.20s step= 660 trunk_z= 119.5mm grav_b=(-0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 13.30s step= 665 trunk_z= 119.7mm grav_b=(+0.00,-0.04,-1.00) r=0.27m +[headless_play] t= 13.40s step= 670 trunk_z= 119.7mm grav_b=(-0.00,-0.04,-1.00) r=0.26m +[headless_play] t= 13.50s step= 675 trunk_z= 119.8mm grav_b=(-0.00,-0.04,-1.00) r=0.26m +[headless_play] t= 13.60s step= 680 trunk_z= 119.8mm grav_b=(-0.00,-0.04,-1.00) r=0.26m +[headless_play] t= 13.70s step= 685 trunk_z= 119.8mm grav_b=(-0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 13.80s step= 690 trunk_z= 119.8mm grav_b=(-0.01,-0.03,-1.00) r=0.27m +[headless_play] t= 13.90s step= 695 trunk_z= 119.8mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 14.00s step= 700 trunk_z= 120.3mm grav_b=(-0.02,-0.04,-1.00) r=0.26m +[headless_play] t= 14.10s step= 705 trunk_z= 119.6mm grav_b=(-0.01,-0.02,-1.00) r=0.26m +[headless_play] t= 14.20s step= 710 trunk_z= 119.7mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 14.30s step= 715 trunk_z= 119.8mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 14.40s step= 720 trunk_z= 119.8mm grav_b=(-0.10,-0.02,-0.99) r=0.24m +[headless_play] t= 14.50s step= 725 trunk_z= 119.4mm grav_b=(-0.16,-0.03,-0.99) r=0.23m +[headless_play] t= 14.60s step= 730 trunk_z= 108.8mm grav_b=(-0.08,+0.19,-0.98) r=0.23m +[headless_play] t= 14.70s step= 735 trunk_z= 97.8mm grav_b=(-0.08,+0.25,-0.96) r=0.22m +[headless_play] t= 14.80s step= 740 trunk_z= 110.7mm grav_b=(-0.12,+0.07,-0.99) r=0.22m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(-0.08,-0.10,-0.99) r=0.21m +[headless_play] t= 15.00s step= 750 trunk_z= 116.8mm grav_b=(-0.07,+0.03,-1.00) r=0.21m +[headless_play] t= 15.10s step= 755 trunk_z= 120.9mm grav_b=(-0.02,+0.03,-1.00) r=0.21m +[headless_play] t= 15.20s step= 760 trunk_z= 120.4mm grav_b=(+0.02,-0.12,-0.99) r=0.20m +[headless_play] t= 15.30s step= 765 trunk_z= 121.0mm grav_b=(-0.02,-0.04,-1.00) r=0.20m +[headless_play] t= 15.40s step= 770 trunk_z= 123.3mm grav_b=(+0.00,+0.10,-0.99) r=0.22m +[headless_play] t= 15.50s step= 775 trunk_z= 118.3mm grav_b=(+0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 15.60s step= 780 trunk_z= 120.8mm grav_b=(-0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 15.70s step= 785 trunk_z= 121.4mm grav_b=(-0.03,+0.07,-1.00) r=0.24m +[headless_play] t= 15.80s step= 790 trunk_z= 119.2mm grav_b=(-0.02,-0.05,-1.00) r=0.25m +[headless_play] t= 15.90s step= 795 trunk_z= 118.6mm grav_b=(-0.04,+0.02,-1.00) r=0.25m +[headless_play] t= 16.00s step= 800 trunk_z= 119.8mm grav_b=(-0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 16.10s step= 805 trunk_z= 119.8mm grav_b=(-0.01,+0.00,-1.00) r=0.26m +[headless_play] t= 16.20s step= 810 trunk_z= 120.1mm grav_b=(-0.00,-0.03,-1.00) r=0.26m +[headless_play] t= 16.30s step= 815 trunk_z= 119.6mm grav_b=(-0.02,-0.01,-1.00) r=0.26m +[headless_play] t= 16.40s step= 820 trunk_z= 120.1mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 16.50s step= 825 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 16.60s step= 830 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 16.70s step= 835 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 16.80s step= 840 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 16.90s step= 845 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 17.00s step= 850 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 17.10s step= 855 trunk_z= 120.2mm grav_b=(-0.01,-0.03,-1.00) r=0.26m +[headless_play] t= 17.20s step= 860 trunk_z= 120.2mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 17.40s step= 870 trunk_z= 120.2mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 17.50s step= 875 trunk_z= 120.2mm grav_b=(-0.02,-0.03,-1.00) r=0.26m +[headless_play] t= 17.60s step= 880 trunk_z= 120.4mm grav_b=(-0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 17.70s step= 885 trunk_z= 119.6mm grav_b=(-0.03,+0.00,-1.00) r=0.26m +[headless_play] t= 17.80s step= 890 trunk_z= 120.4mm grav_b=(-0.06,-0.02,-1.00) r=0.27m +[headless_play] t= 17.90s step= 895 trunk_z= 119.8mm grav_b=(-0.11,-0.01,-0.99) r=0.27m +[headless_play] t= 18.00s step= 900 trunk_z= 121.4mm grav_b=(-0.10,+0.02,-1.00) r=0.28m +[headless_play] t= 18.10s step= 905 trunk_z= 110.1mm grav_b=(-0.03,-0.17,-0.99) r=0.29m +[headless_play] t= 18.20s step= 910 trunk_z= 108.9mm grav_b=(+0.04,-0.10,-0.99) r=0.29m +[headless_play] t= 18.30s step= 915 trunk_z= 109.4mm grav_b=(+0.05,+0.03,-1.00) r=0.30m +[headless_play] t= 18.40s step= 920 trunk_z= 119.8mm grav_b=(+0.08,-0.11,-0.99) r=0.31m +[headless_play] t= 18.50s step= 925 trunk_z= 118.6mm grav_b=(-0.01,-0.06,-1.00) r=0.31m +[headless_play] t= 18.60s step= 930 trunk_z= 114.8mm grav_b=(-0.04,+0.07,-1.00) r=0.33m +[headless_play] t= 18.70s step= 935 trunk_z= 118.1mm grav_b=(-0.02,-0.05,-1.00) r=0.33m +[headless_play] t= 18.80s step= 940 trunk_z= 119.8mm grav_b=(-0.08,+0.03,-1.00) r=0.34m +[headless_play] t= 18.90s step= 945 trunk_z= 119.3mm grav_b=(-0.04,+0.00,-1.00) r=0.34m +[headless_play] t= 19.00s step= 950 trunk_z= 119.6mm grav_b=(-0.03,+0.01,-1.00) r=0.34m +[headless_play] t= 19.10s step= 955 trunk_z= 120.2mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 19.20s step= 960 trunk_z= 119.7mm grav_b=(-0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 19.30s step= 965 trunk_z= 119.9mm grav_b=(-0.02,-0.00,-1.00) r=0.34m +[headless_play] t= 19.40s step= 970 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00) r=0.34m +[headless_play] t= 19.50s step= 975 trunk_z= 120.3mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 19.60s step= 980 trunk_z= 120.3mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 19.70s step= 985 trunk_z= 120.2mm grav_b=(-0.00,-0.01,-1.00) r=0.34m +[headless_play] t= 19.80s step= 990 trunk_z= 120.4mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[headless_play] t= 19.90s step= 995 trunk_z= 120.5mm grav_b=(-0.00,-0.02,-1.00) r=0.34m +[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=0.11m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.01,-0.02,-1.00) r=0.10m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..c4096f00c551919f4f1cb646558eb7867d2b78f6 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) root_w=(-10.391,-18.487,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.7mm grav_b=(-0.01,-0.00,-1.00) r=0.62m +[headless_play] t= 0.10s step= 5 trunk_z= 113.6mm grav_b=(+0.07,+0.08,-0.99) r=0.62m +[headless_play] t= 0.20s step= 10 trunk_z= 114.7mm grav_b=(+0.08,+0.05,-1.00) r=0.62m +[headless_play] t= 0.30s step= 15 trunk_z= 111.9mm grav_b=(+0.04,-0.07,-1.00) r=0.62m +[headless_play] t= 0.40s step= 20 trunk_z= 112.8mm grav_b=(+0.10,-0.00,-0.99) r=0.62m +[headless_play] t= 0.50s step= 25 trunk_z= 109.2mm grav_b=(+0.13,+0.07,-0.99) r=0.62m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(+0.09,+0.03,-1.00) r=0.61m +[headless_play] t= 0.70s step= 35 trunk_z= 110.2mm grav_b=(+0.06,-0.05,-1.00) r=0.62m +[headless_play] t= 0.80s step= 40 trunk_z= 113.2mm grav_b=(+0.12,-0.01,-0.99) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 106.6mm grav_b=(+0.15,+0.08,-0.99) r=0.61m +[headless_play] t= 1.00s step= 50 trunk_z= 118.4mm grav_b=(+0.06,+0.04,-1.00) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 112.0mm grav_b=(+0.07,-0.04,-1.00) r=0.60m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(+0.10,-0.01,-1.00) r=0.60m +[headless_play] t= 1.30s step= 65 trunk_z= 107.9mm grav_b=(+0.15,+0.02,-0.99) r=0.58m +[headless_play] t= 1.40s step= 70 trunk_z= 118.9mm grav_b=(+0.11,+0.09,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 116.1mm grav_b=(+0.10,+0.03,-0.99) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(+0.06,-0.05,-1.00) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 113.0mm grav_b=(+0.10,+0.05,-0.99) r=0.53m +[headless_play] t= 1.80s step= 90 trunk_z= 115.0mm grav_b=(+0.11,+0.08,-0.99) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(+0.09,+0.01,-1.00) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 114.6mm grav_b=(+0.09,-0.05,-0.99) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 111.8mm grav_b=(+0.12,-0.01,-0.99) r=0.48m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.11,+0.07,-0.99) r=0.47m +[headless_play] t= 2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.09,+0.02,-1.00) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 113.0mm grav_b=(+0.07,-0.06,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 111.6mm grav_b=(+0.12,+0.01,-0.99) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 113.0mm grav_b=(+0.15,+0.05,-0.99) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.08,-0.03,-1.00) r=0.41m +[headless_play] t= 2.80s step= 140 trunk_z= 117.7mm grav_b=(+0.07,-0.07,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 110.2mm grav_b=(+0.11,+0.09,-0.99) r=0.38m +[headless_play] t= 3.00s step= 150 trunk_z= 117.4mm grav_b=(+0.10,+0.05,-0.99) r=0.37m +[headless_play] t= 3.10s step= 155 trunk_z= 112.8mm grav_b=(+0.07,-0.06,-1.00) r=0.35m +[headless_play] t= 3.20s step= 160 trunk_z= 114.9mm grav_b=(+0.11,-0.03,-0.99) r=0.34m +[headless_play] t= 3.30s step= 165 trunk_z= 108.4mm grav_b=(+0.15,+0.10,-0.98) r=0.34m +[headless_play] t= 3.40s step= 170 trunk_z= 119.2mm grav_b=(+0.05,+0.00,-1.00) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 116.4mm grav_b=(+0.05,-0.06,-1.00) r=0.31m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.08,+0.05,-1.00) r=0.30m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(+0.12,+0.08,-0.99) r=0.29m +[headless_play] t= 3.80s step= 190 trunk_z= 113.4mm grav_b=(+0.15,+0.01,-0.99) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 112.7mm grav_b=(+0.12,-0.07,-0.99) r=0.24m +[headless_play] t= 4.00s step= 200 trunk_z= 113.2mm grav_b=(+0.04,+0.07,-1.00) r=0.22m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.07,+0.05,-1.00) r=0.20m +[headless_play] t= 4.20s step= 210 trunk_z= 111.2mm grav_b=(+0.09,-0.06,-0.99) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 113.9mm grav_b=(+0.12,-0.05,-0.99) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 109.6mm grav_b=(+0.16,+0.00,-0.99) r=0.15m +[headless_play] t= 4.50s step= 225 trunk_z= 119.0mm grav_b=(+0.07,+0.03,-1.00) r=0.13m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(+0.10,-0.00,-0.99) r=0.12m +[headless_play] t= 4.70s step= 235 trunk_z= 113.1mm grav_b=(+0.09,-0.05,-0.99) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 111.7mm grav_b=(+0.10,+0.05,-0.99) r=0.08m +[headless_play] t= 4.90s step= 245 trunk_z= 115.6mm grav_b=(+0.11,+0.07,-0.99) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 116.5mm grav_b=(+0.09,-0.01,-1.00) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(+0.06,-0.05,-1.00) r=0.03m +[headless_play] t= 5.20s step= 260 trunk_z= 110.7mm grav_b=(+0.11,+0.10,-0.99) r=0.01m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.16,+0.12,-0.98) r=0.02m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.09,+0.04,-1.00) r=0.03m +[headless_play] t= 5.50s step= 275 trunk_z= 118.6mm grav_b=(+0.07,-0.05,-1.00) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 113.8mm grav_b=(+0.13,+0.05,-0.99) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 121.4mm grav_b=(+0.03,+0.05,-1.00) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 118.9mm grav_b=(+0.01,-0.10,-1.00) r=0.08m +[headless_play] t= 5.90s step= 295 trunk_z= 121.5mm grav_b=(+0.07,-0.02,-1.00) r=0.09m +[headless_play] t= 6.00s step= 300 trunk_z= 112.0mm grav_b=(+0.15,+0.10,-0.98) r=0.10m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.02,-0.03,-1.00) r=0.10m +[headless_play] t= 6.20s step= 310 trunk_z= 120.5mm grav_b=(+0.08,-0.09,-0.99) r=0.12m +[headless_play] t= 6.30s step= 315 trunk_z= 115.0mm grav_b=(+0.08,+0.07,-0.99) r=0.14m +[headless_play] t= 6.40s step= 320 trunk_z= 121.3mm grav_b=(+0.08,+0.07,-0.99) r=0.15m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(+0.05,-0.08,-1.00) r=0.17m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(+0.10,+0.06,-0.99) r=0.19m +[headless_play] t= 6.70s step= 335 trunk_z= 122.3mm grav_b=(+0.10,+0.13,-0.99) r=0.20m +[headless_play] t= 6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.02,-0.05,-1.00) r=0.22m +[headless_play] t= 6.90s step= 345 trunk_z= 120.1mm grav_b=(+0.07,-0.05,-1.00) r=0.23m +[headless_play] t= 7.00s step= 350 trunk_z= 114.8mm grav_b=(+0.12,+0.12,-0.99) r=0.25m +[headless_play] t= 7.10s step= 355 trunk_z= 120.3mm grav_b=(+0.06,+0.02,-1.00) r=0.26m +[headless_play] t= 7.20s step= 360 trunk_z= 118.8mm grav_b=(+0.05,-0.05,-1.00) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 113.4mm grav_b=(+0.09,+0.09,-0.99) r=0.29m +[headless_play] t= 7.40s step= 370 trunk_z= 121.7mm grav_b=(+0.08,+0.06,-1.00) r=0.30m +[headless_play] t= 7.50s step= 375 trunk_z= 117.5mm grav_b=(+0.07,-0.05,-1.00) r=0.32m +[headless_play] t= 7.60s step= 380 trunk_z= 115.7mm grav_b=(+0.09,+0.06,-0.99) r=0.34m +[headless_play] t= 7.70s step= 385 trunk_z= 122.5mm grav_b=(+0.11,+0.11,-0.99) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 116.1mm grav_b=(+0.09,+0.01,-1.00) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 116.5mm grav_b=(+0.09,+0.02,-1.00) r=0.36m +[headless_play] t= 8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.06,+0.02,-1.00) r=0.36m +[headless_play] t= 8.10s step= 405 trunk_z= 116.4mm grav_b=(+0.03,+0.01,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 8.30s step= 415 trunk_z= 116.4mm grav_b=(+0.07,+0.01,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 116.6mm grav_b=(+0.07,+0.01,-1.00) r=0.36m +[headless_play] t= 8.50s step= 425 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 8.80s step= 440 trunk_z= 116.6mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 8.90s step= 445 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.00s step= 450 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.20s step= 460 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.30s step= 465 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.40s step= 470 trunk_z= 116.7mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.50s step= 475 trunk_z= 116.8mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.60s step= 480 trunk_z= 116.9mm grav_b=(+0.06,+0.01,-1.00) r=0.36m +[headless_play] t= 9.70s step= 485 trunk_z= 116.9mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 9.80s step= 490 trunk_z= 117.2mm grav_b=(+0.02,+0.00,-1.00) r=0.35m +[headless_play] t= 9.90s step= 495 trunk_z= 117.6mm grav_b=(+0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(+0.05,-0.00,-1.00) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(+0.07,-0.00,-1.00) r=0.35m +[headless_play] t= 10.20s step= 510 trunk_z= 117.0mm grav_b=(+0.09,+0.00,-1.00) r=0.35m +[headless_play] t= 10.30s step= 515 trunk_z= 117.2mm grav_b=(+0.06,+0.00,-1.00) r=0.35m +[headless_play] t= 10.40s step= 520 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 10.70s step= 535 trunk_z= 117.2mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 10.90s step= 545 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 11.10s step= 555 trunk_z= 117.5mm grav_b=(+0.05,+0.00,-1.00) r=0.35m +[headless_play] t= 11.20s step= 560 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.40s step= 570 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.60s step= 580 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.70s step= 585 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.80s step= 590 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 11.90s step= 595 trunk_z= 117.4mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.00s step= 600 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.10s step= 605 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.20s step= 610 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.30s step= 615 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.50s step= 625 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.60s step= 630 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 117.6mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.80s step= 640 trunk_z= 117.7mm grav_b=(+0.05,+0.01,-1.00) r=0.35m +[headless_play] t= 12.90s step= 645 trunk_z= 118.0mm grav_b=(+0.07,+0.04,-1.00) r=0.36m +[headless_play] t= 13.00s step= 650 trunk_z= 115.9mm grav_b=(+0.10,+0.05,-0.99) r=0.37m +[headless_play] t= 13.10s step= 655 trunk_z= 116.6mm grav_b=(-0.01,-0.08,-1.00) r=0.36m +[headless_play] t= 13.20s step= 660 trunk_z= 130.3mm grav_b=(-0.13,-0.06,-0.99) r=0.35m +[headless_play] t= 13.30s step= 665 trunk_z= 104.8mm grav_b=(-0.31,+0.14,-0.94) r=0.34m +[headless_play] t= 13.40s step= 670 trunk_z= 71.6mm grav_b=(-0.45,+0.14,-0.88) r=0.33m +[headless_play] t= 13.50s step= 675 trunk_z= 86.3mm grav_b=(-0.13,+0.10,-0.99) r=0.33m +[headless_play] t= 13.60s step= 680 trunk_z= 86.2mm grav_b=(+0.19,+0.16,-0.97) r=0.34m +[headless_play] t= 13.70s step= 685 trunk_z= 103.4mm grav_b=(+0.12,+0.13,-0.98) r=0.34m +[headless_play] t= 13.80s step= 690 trunk_z= 114.9mm grav_b=(+0.01,-0.09,-1.00) r=0.35m +[headless_play] t= 13.90s step= 695 trunk_z= 127.8mm grav_b=(-0.00,-0.15,-0.99) r=0.37m +[headless_play] t= 14.00s step= 700 trunk_z= 126.1mm grav_b=(+0.06,-0.07,-1.00) r=0.38m +[headless_play] t= 14.10s step= 705 trunk_z= 114.5mm grav_b=(+0.14,+0.05,-0.99) r=0.39m +[headless_play] t= 14.20s step= 710 trunk_z= 117.5mm grav_b=(+0.10,+0.02,-0.99) r=0.38m +[headless_play] t= 14.30s step= 715 trunk_z= 114.1mm grav_b=(+0.07,-0.03,-1.00) r=0.39m +[headless_play] t= 14.40s step= 720 trunk_z= 115.8mm grav_b=(+0.12,+0.00,-0.99) r=0.41m +[headless_play] t= 14.50s step= 725 trunk_z= 107.7mm grav_b=(+0.12,+0.09,-0.99) r=0.42m +[headless_play] t= 14.60s step= 730 trunk_z= 118.3mm grav_b=(+0.10,+0.06,-0.99) r=0.43m +[headless_play] t= 14.70s step= 735 trunk_z= 116.0mm grav_b=(+0.03,-0.03,-1.00) r=0.43m +[headless_play] t= 14.80s step= 740 trunk_z= 118.9mm grav_b=(+0.07,+0.05,-1.00) r=0.44m +[headless_play] t= 14.90s step= 745 trunk_z= 122.7mm grav_b=(+0.08,+0.13,-0.99) r=0.45m +[headless_play] t= 15.00s step= 750 trunk_z= 121.8mm grav_b=(+0.08,-0.02,-1.00) r=0.47m +[headless_play] t= 15.10s step= 755 trunk_z= 120.3mm grav_b=(-0.00,+0.02,-1.00) r=0.49m +[headless_play] t= 15.20s step= 760 trunk_z= 122.4mm grav_b=(+0.07,+0.12,-0.99) r=0.50m +[headless_play] t= 15.30s step= 765 trunk_z= 125.9mm grav_b=(+0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 15.40s step= 770 trunk_z= 121.0mm grav_b=(+0.07,-0.01,-1.00) r=0.53m +[headless_play] t= 15.50s step= 775 trunk_z= 121.5mm grav_b=(+0.11,+0.15,-0.98) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 125.4mm grav_b=(+0.11,-0.04,-0.99) r=0.56m +[headless_play] t= 15.70s step= 785 trunk_z= 116.2mm grav_b=(-0.08,-0.01,-1.00) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(-0.04,+0.09,-0.99) r=0.58m +[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(+0.12,-0.10,-0.99) r=0.59m +[headless_play] t= 16.00s step= 800 trunk_z= 122.4mm grav_b=(+0.08,-0.05,-1.00) r=0.60m +[headless_play] t= 16.10s step= 805 trunk_z= 116.1mm grav_b=(+0.18,+0.06,-0.98) r=0.60m +[headless_play] t= 16.20s step= 810 trunk_z= 117.6mm grav_b=(+0.13,-0.06,-0.99) r=0.61m +[headless_play] t= 16.30s step= 815 trunk_z= 113.6mm grav_b=(-0.10,-0.00,-0.99) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 115.2mm grav_b=(-0.05,+0.13,-0.99) r=0.64m +[headless_play] t= 16.50s step= 825 trunk_z= 119.1mm grav_b=(+0.14,-0.06,-0.99) r=0.64m +[headless_play] t= 16.60s step= 830 trunk_z= 120.0mm grav_b=(+0.16,-0.14,-0.98) r=0.64m +[headless_play] t= 16.70s step= 835 trunk_z= 111.2mm grav_b=(+0.19,+0.01,-0.98) r=0.64m +[headless_play] t= 16.80s step= 840 trunk_z= 107.3mm grav_b=(+0.18,+0.03,-0.98) r=0.64m +[headless_play] t= 16.90s step= 845 trunk_z= 112.9mm grav_b=(+0.04,-0.14,-0.99) r=0.65m +[headless_play] t= 17.00s step= 850 trunk_z= 117.9mm grav_b=(-0.07,+0.06,-1.00) r=0.65m +[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(+0.01,+0.07,-1.00) r=0.65m +[headless_play] t= 17.20s step= 860 trunk_z= 110.8mm grav_b=(+0.03,-0.11,-0.99) r=0.66m +[headless_play] t= 17.30s step= 865 trunk_z= 111.3mm grav_b=(+0.15,+0.01,-0.99) r=0.66m +[headless_play] t= 17.40s step= 870 trunk_z= 112.5mm grav_b=(+0.10,-0.05,-0.99) r=0.68m +[headless_play] t= 17.50s step= 875 trunk_z= 112.0mm grav_b=(+0.06,-0.19,-0.98) r=0.73m +[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(-0.02,-0.21,-0.98) r=0.76m +[headless_play] t= 17.70s step= 885 trunk_z= 118.9mm grav_b=(+0.06,+0.06,-1.00) r=0.77m +[headless_play] t= 17.80s step= 890 trunk_z= 126.0mm grav_b=(+0.02,-0.00,-1.00) r=0.78m +[headless_play] t= 17.90s step= 895 trunk_z= 122.4mm grav_b=(+0.01,-0.09,-1.00) r=0.80m +[headless_play] t= 18.00s step= 900 trunk_z= 118.8mm grav_b=(+0.12,+0.10,-0.99) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 127.5mm grav_b=(+0.17,+0.13,-0.98) r=0.80m +[headless_play] t= 18.20s step= 910 trunk_z= 121.5mm grav_b=(+0.06,-0.07,-1.00) r=0.81m +[headless_play] t= 18.30s step= 915 trunk_z= 121.5mm grav_b=(-0.09,-0.01,-1.00) r=0.81m +[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(-0.06,+0.10,-0.99) r=0.83m +[headless_play] t= 18.50s step= 925 trunk_z= 121.4mm grav_b=(+0.02,+0.01,-1.00) r=0.82m +[headless_play] t= 18.60s step= 930 trunk_z= 104.3mm grav_b=(+0.15,-0.03,-0.99) r=0.82m +[headless_play] t= 18.70s step= 935 trunk_z= 111.0mm grav_b=(+0.16,+0.04,-0.99) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 119.9mm grav_b=(+0.07,-0.02,-1.00) r=0.83m +[headless_play] t= 18.90s step= 945 trunk_z= 118.8mm grav_b=(+0.05,-0.10,-0.99) r=0.85m +[headless_play] t= 19.00s step= 950 trunk_z= 112.1mm grav_b=(+0.10,+0.02,-0.99) r=0.87m +[headless_play] t= 19.10s step= 955 trunk_z= 118.2mm grav_b=(+0.10,+0.03,-0.99) r=0.88m +[headless_play] t= 19.20s step= 960 trunk_z= 117.0mm grav_b=(+0.08,-0.02,-1.00) r=0.89m +[headless_play] t= 19.30s step= 965 trunk_z= 117.2mm grav_b=(+0.08,-0.05,-1.00) r=0.91m +[headless_play] t= 19.40s step= 970 trunk_z= 111.3mm grav_b=(+0.13,+0.05,-0.99) r=0.92m +[headless_play] t= 19.50s step= 975 trunk_z= 120.3mm grav_b=(+0.11,+0.04,-0.99) r=0.93m +[headless_play] t= 19.60s step= 980 trunk_z= 117.7mm grav_b=(+0.06,-0.04,-1.00) r=0.94m +[headless_play] t= 19.70s step= 985 trunk_z= 120.0mm grav_b=(+0.05,-0.04,-1.00) r=0.96m +[headless_play] t= 19.80s step= 990 trunk_z= 116.3mm grav_b=(+0.08,+0.10,-0.99) r=0.97m +[headless_play] t= 19.90s step= 995 trunk_z= 118.5mm grav_b=(+0.12,+0.05,-0.99) r=0.98m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00) r=0.59m +[headless_play] t= 20.10s step=1005 trunk_z= 115.4mm grav_b=(+0.08,+0.04,-1.00) r=0.60m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..8867169fee762474c72478bbed4cd9a0f0cec157 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.6mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.461,-17.895,+0.256) +[headless_play] t= 0.00s step= 0 trunk_z= 126.0mm grav_b=(-0.01,-0.00,-1.00) r=0.47m +[headless_play] t= 0.10s step= 5 trunk_z= 116.7mm grav_b=(-0.04,-0.00,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 119.0mm grav_b=(-0.02,-0.04,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 119.8mm grav_b=(-0.01,+0.01,-1.00) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 121.4mm grav_b=(-0.02,+0.05,-1.00) r=0.47m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(-0.07,-0.14,-0.99) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 117.6mm grav_b=(-0.20,-0.08,-0.98) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 119.1mm grav_b=(-0.17,+0.05,-0.98) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 117.6mm grav_b=(-0.08,-0.10,-0.99) r=0.43m +[headless_play] t= 0.90s step= 45 trunk_z= 125.1mm grav_b=(-0.05,-0.15,-0.99) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 120.1mm grav_b=(-0.08,+0.04,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 122.9mm grav_b=(-0.08,+0.02,-1.00) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 119.2mm grav_b=(-0.09,-0.14,-0.99) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 117.3mm grav_b=(-0.08,+0.06,-0.99) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 121.2mm grav_b=(-0.08,+0.07,-0.99) r=0.36m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(-0.12,-0.09,-0.99) r=0.35m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(-0.11,+0.03,-0.99) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 121.0mm grav_b=(-0.08,+0.01,-1.00) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 119.8mm grav_b=(-0.08,-0.04,-1.00) r=0.31m +[headless_play] t= 1.90s step= 95 trunk_z= 119.0mm grav_b=(-0.07,+0.01,-1.00) r=0.30m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(-0.09,-0.05,-0.99) r=0.29m +[headless_play] t= 2.10s step= 105 trunk_z= 118.6mm grav_b=(-0.08,+0.02,-1.00) r=0.29m +[headless_play] t= 2.20s step= 110 trunk_z= 117.6mm grav_b=(-0.09,-0.09,-0.99) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 118.6mm grav_b=(-0.10,+0.01,-0.99) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 120.0mm grav_b=(-0.09,-0.05,-1.00) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(-0.07,-0.09,-0.99) r=0.25m +[headless_play] t= 2.60s step= 130 trunk_z= 117.6mm grav_b=(-0.06,+0.01,-1.00) r=0.25m +[headless_play] t= 2.70s step= 135 trunk_z= 117.9mm grav_b=(-0.07,-0.08,-0.99) r=0.24m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(-0.07,-0.10,-0.99) r=0.24m +[headless_play] t= 2.90s step= 145 trunk_z= 114.7mm grav_b=(+0.00,+0.04,-1.00) r=0.24m +[headless_play] t= 3.00s step= 150 trunk_z= 118.7mm grav_b=(-0.02,-0.02,-1.00) r=0.23m +[headless_play] t= 3.10s step= 155 trunk_z= 115.1mm grav_b=(-0.08,-0.16,-0.98) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 117.5mm grav_b=(-0.05,-0.08,-1.00) r=0.23m +[headless_play] t= 3.30s step= 165 trunk_z= 116.8mm grav_b=(-0.01,+0.07,-1.00) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 116.4mm grav_b=(-0.03,-0.10,-1.00) r=0.22m +[headless_play] t= 3.50s step= 175 trunk_z= 123.6mm grav_b=(-0.06,-0.22,-0.97) r=0.21m +[headless_play] t= 3.60s step= 180 trunk_z= 125.4mm grav_b=(-0.03,-0.25,-0.97) r=0.21m +[headless_play] t= 3.70s step= 185 trunk_z= 128.5mm grav_b=(+0.00,-0.24,-0.97) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 130.0mm grav_b=(+0.01,-0.18,-0.98) r=0.22m +[headless_play] t= 3.90s step= 195 trunk_z= 121.6mm grav_b=(-0.01,-0.06,-1.00) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 124.8mm grav_b=(-0.12,-0.01,-0.99) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(-0.08,-0.06,-1.00) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 119.2mm grav_b=(-0.05,+0.02,-1.00) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 120.0mm grav_b=(-0.04,+0.02,-1.00) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(-0.04,-0.11,-0.99) r=0.28m +[headless_play] t= 4.50s step= 225 trunk_z= 119.6mm grav_b=(-0.06,-0.09,-0.99) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 116.8mm grav_b=(-0.04,+0.07,-1.00) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.30m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(-0.07,-0.13,-0.99) r=0.31m +[headless_play] t= 4.90s step= 245 trunk_z= 117.0mm grav_b=(-0.04,-0.05,-1.00) r=0.32m +[headless_play] t= 5.00s step= 250 trunk_z= 118.6mm grav_b=(-0.03,+0.06,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 120.5mm grav_b=(-0.05,-0.03,-1.00) r=0.34m +[headless_play] t= 5.20s step= 260 trunk_z= 120.1mm grav_b=(-0.06,-0.12,-0.99) r=0.35m +[headless_play] t= 5.30s step= 265 trunk_z= 114.3mm grav_b=(-0.02,+0.02,-1.00) r=0.35m +[headless_play] t= 5.40s step= 270 trunk_z= 119.6mm grav_b=(-0.09,-0.01,-1.00) r=0.35m +[headless_play] t= 5.50s step= 275 trunk_z= 120.8mm grav_b=(-0.11,-0.11,-0.99) r=0.36m +[headless_play] t= 5.60s step= 280 trunk_z= 121.8mm grav_b=(-0.10,-0.04,-0.99) r=0.37m +[headless_play] t= 5.70s step= 285 trunk_z= 121.0mm grav_b=(-0.14,+0.06,-0.99) r=0.37m +[headless_play] t= 5.80s step= 290 trunk_z= 116.5mm grav_b=(-0.08,-0.10,-0.99) r=0.37m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.02,-0.07,-1.00) r=0.37m +[headless_play] t= 6.00s step= 300 trunk_z= 108.5mm grav_b=(+0.04,+0.10,-0.99) r=0.37m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.11,-0.07,-0.99) r=0.38m +[headless_play] t= 6.20s step= 310 trunk_z= 117.9mm grav_b=(-0.08,-0.03,-1.00) r=0.39m +[headless_play] t= 6.30s step= 315 trunk_z= 115.6mm grav_b=(-0.02,+0.07,-1.00) r=0.40m +[headless_play] t= 6.40s step= 320 trunk_z= 115.9mm grav_b=(-0.05,-0.09,-0.99) r=0.41m +[headless_play] t= 6.50s step= 325 trunk_z= 115.0mm grav_b=(-0.04,+0.04,-1.00) r=0.43m +[headless_play] t= 6.60s step= 330 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) r=0.46m +[headless_play] t= 6.70s step= 335 trunk_z= 118.5mm grav_b=(+0.09,-0.09,-0.99) r=0.49m +[headless_play] t= 6.80s step= 340 trunk_z= 113.8mm grav_b=(-0.06,+0.13,-0.99) r=0.51m +[headless_play] t= 6.90s step= 345 trunk_z= 115.5mm grav_b=(-0.12,+0.15,-0.98) r=0.52m +[headless_play] t= 7.00s step= 350 trunk_z= 116.1mm grav_b=(-0.19,-0.04,-0.98) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 124.0mm grav_b=(-0.09,-0.02,-1.00) r=0.55m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(-0.10,+0.04,-0.99) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 114.1mm grav_b=(-0.04,-0.17,-0.98) r=0.56m +[headless_play] t= 7.40s step= 370 trunk_z= 121.0mm grav_b=(-0.06,-0.16,-0.98) r=0.56m +[headless_play] t= 7.50s step= 375 trunk_z= 121.2mm grav_b=(-0.04,-0.06,-1.00) r=0.56m +[headless_play] t= 7.60s step= 380 trunk_z= 116.7mm grav_b=(-0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 7.70s step= 385 trunk_z= 114.3mm grav_b=(+0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 7.80s step= 390 trunk_z= 113.4mm grav_b=(+0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 7.90s step= 395 trunk_z= 115.1mm grav_b=(+0.02,-0.02,-1.00) r=0.55m +[headless_play] t= 8.00s step= 400 trunk_z= 116.5mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 8.10s step= 405 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.55m +[headless_play] t= 8.20s step= 410 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00) r=0.55m +[headless_play] t= 8.30s step= 415 trunk_z= 116.8mm grav_b=(-0.06,-0.00,-1.00) r=0.54m +[headless_play] t= 8.40s step= 420 trunk_z= 116.9mm grav_b=(-0.06,-0.00,-1.00) r=0.54m +[headless_play] t= 8.50s step= 425 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 8.60s step= 430 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 8.70s step= 435 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 8.90s step= 445 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.10s step= 455 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.30s step= 465 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.60s step= 480 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.70s step= 485 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.80s step= 490 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 9.90s step= 495 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.00s step= 500 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.10s step= 505 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.20s step= 510 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.30s step= 515 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.40s step= 520 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.55m +[headless_play] t= 10.60s step= 530 trunk_z= 117.3mm grav_b=(-0.12,-0.01,-0.99) r=0.56m +[headless_play] t= 10.70s step= 535 trunk_z= 117.7mm grav_b=(-0.18,-0.03,-0.98) r=0.58m +[headless_play] t= 10.80s step= 540 trunk_z= 114.9mm grav_b=(-0.10,-0.01,-1.00) r=0.58m +[headless_play] t= 10.90s step= 545 trunk_z= 108.5mm grav_b=(-0.11,+0.20,-0.97) r=0.59m +[headless_play] t= 11.00s step= 550 trunk_z= 115.5mm grav_b=(-0.12,+0.10,-0.99) r=0.59m +[headless_play] t= 11.10s step= 555 trunk_z= 110.6mm grav_b=(-0.01,-0.10,-0.99) r=0.60m +[headless_play] t= 11.20s step= 560 trunk_z= 111.3mm grav_b=(+0.03,-0.10,-0.99) r=0.60m +[headless_play] t= 11.30s step= 565 trunk_z= 112.0mm grav_b=(+0.03,-0.03,-1.00) r=0.60m +[headless_play] t= 11.40s step= 570 trunk_z= 114.4mm grav_b=(-0.03,-0.03,-1.00) r=0.61m +[headless_play] t= 11.50s step= 575 trunk_z= 115.8mm grav_b=(-0.01,-0.00,-1.00) r=0.60m +[headless_play] t= 11.60s step= 580 trunk_z= 116.4mm grav_b=(-0.03,+0.01,-1.00) r=0.60m +[headless_play] t= 11.70s step= 585 trunk_z= 116.5mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 11.80s step= 590 trunk_z= 116.6mm grav_b=(-0.06,+0.00,-1.00) r=0.60m +[headless_play] t= 11.90s step= 595 trunk_z= 116.7mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 12.00s step= 600 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.10s step= 605 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.30s step= 615 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.40s step= 620 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.50s step= 625 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.80s step= 640 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 13.00s step= 650 trunk_z= 116.7mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 13.30s step= 665 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.40s step= 670 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.60s step= 680 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.70s step= 685 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.80s step= 690 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 13.90s step= 695 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 14.00s step= 700 trunk_z= 116.8mm grav_b=(-0.05,+0.00,-1.00) r=0.60m +[headless_play] t= 14.10s step= 705 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 14.20s step= 710 trunk_z= 116.8mm grav_b=(-0.06,-0.00,-1.00) r=0.60m +[headless_play] t= 14.30s step= 715 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.60m +[headless_play] t= 14.40s step= 720 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.60s step= 730 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.70s step= 735 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.80s step= 740 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 14.90s step= 745 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.60m +[headless_play] t= 15.00s step= 750 trunk_z= 118.0mm grav_b=(-0.05,-0.03,-1.00) r=0.61m +[headless_play] t= 15.10s step= 755 trunk_z= 118.1mm grav_b=(-0.05,-0.04,-1.00) r=0.61m +[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(-0.04,+0.04,-1.00) r=0.60m +[headless_play] t= 15.30s step= 765 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00) r=0.60m +[headless_play] t= 15.40s step= 770 trunk_z= 116.5mm grav_b=(-0.08,-0.10,-0.99) r=0.60m +[headless_play] t= 15.50s step= 775 trunk_z= 112.6mm grav_b=(-0.01,+0.06,-1.00) r=0.60m +[headless_play] t= 15.60s step= 780 trunk_z= 115.7mm grav_b=(-0.04,+0.03,-1.00) r=0.60m +[headless_play] t= 15.70s step= 785 trunk_z= 112.9mm grav_b=(-0.05,-0.08,-1.00) r=0.60m +[headless_play] t= 15.80s step= 790 trunk_z= 111.7mm grav_b=(-0.02,-0.02,-1.00) r=0.61m +[headless_play] t= 15.90s step= 795 trunk_z= 111.7mm grav_b=(-0.00,+0.04,-1.00) r=0.61m +[headless_play] t= 16.00s step= 800 trunk_z= 113.2mm grav_b=(-0.06,-0.07,-1.00) r=0.61m +[headless_play] t= 16.10s step= 805 trunk_z= 114.1mm grav_b=(-0.04,-0.11,-0.99) r=0.62m +[headless_play] t= 16.20s step= 810 trunk_z= 106.1mm grav_b=(+0.09,+0.04,-1.00) r=0.63m +[headless_play] t= 16.30s step= 815 trunk_z= 117.1mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 16.40s step= 820 trunk_z= 117.1mm grav_b=(-0.11,-0.16,-0.98) r=0.64m +[headless_play] t= 16.50s step= 825 trunk_z= 119.6mm grav_b=(-0.15,-0.05,-0.99) r=0.64m +[headless_play] t= 16.60s step= 830 trunk_z= 117.7mm grav_b=(-0.07,+0.06,-1.00) r=0.63m +[headless_play] t= 16.70s step= 835 trunk_z= 113.9mm grav_b=(-0.01,-0.03,-1.00) r=0.63m +[headless_play] t= 16.80s step= 840 trunk_z= 114.6mm grav_b=(-0.01,-0.08,-1.00) r=0.63m +[headless_play] t= 16.90s step= 845 trunk_z= 112.1mm grav_b=(-0.04,+0.08,-1.00) r=0.63m +[headless_play] t= 17.00s step= 850 trunk_z= 114.8mm grav_b=(-0.04,+0.01,-1.00) r=0.62m +[headless_play] t= 17.10s step= 855 trunk_z= 114.2mm grav_b=(-0.04,-0.10,-0.99) r=0.62m +[headless_play] t= 17.20s step= 860 trunk_z= 111.6mm grav_b=(-0.01,+0.04,-1.00) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 113.5mm grav_b=(-0.02,+0.05,-1.00) r=0.61m +[headless_play] t= 17.40s step= 870 trunk_z= 111.2mm grav_b=(-0.05,-0.09,-0.99) r=0.61m +[headless_play] t= 17.50s step= 875 trunk_z= 112.1mm grav_b=(-0.02,+0.01,-1.00) r=0.61m +[headless_play] t= 17.60s step= 880 trunk_z= 111.8mm grav_b=(+0.00,+0.06,-1.00) r=0.60m +[headless_play] t= 17.70s step= 885 trunk_z= 111.2mm grav_b=(-0.05,-0.09,-0.99) r=0.59m +[headless_play] t= 17.80s step= 890 trunk_z= 110.6mm grav_b=(-0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 17.90s step= 895 trunk_z= 112.7mm grav_b=(-0.01,+0.05,-1.00) r=0.58m +[headless_play] t= 18.00s step= 900 trunk_z= 112.3mm grav_b=(-0.07,-0.09,-0.99) r=0.57m +[headless_play] t= 18.10s step= 905 trunk_z= 112.0mm grav_b=(+0.00,-0.00,-1.00) r=0.57m +[headless_play] t= 18.20s step= 910 trunk_z= 112.1mm grav_b=(+0.01,+0.07,-1.00) r=0.56m +[headless_play] t= 18.30s step= 915 trunk_z= 115.8mm grav_b=(-0.06,-0.07,-1.00) r=0.56m +[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.04,-0.08,-1.00) r=0.55m +[headless_play] t= 18.50s step= 925 trunk_z= 110.1mm grav_b=(+0.03,+0.10,-0.99) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.8mm grav_b=(-0.08,+0.03,-1.00) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 116.4mm grav_b=(-0.06,-0.12,-0.99) r=0.54m +[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(-0.04,-0.04,-1.00) r=0.53m +[headless_play] t= 18.90s step= 945 trunk_z= 113.0mm grav_b=(+0.00,+0.10,-1.00) r=0.52m +[headless_play] t= 19.00s step= 950 trunk_z= 117.1mm grav_b=(-0.06,-0.01,-1.00) r=0.51m +[headless_play] t= 19.10s step= 955 trunk_z= 115.1mm grav_b=(-0.04,-0.11,-0.99) r=0.50m +[headless_play] t= 19.20s step= 960 trunk_z= 112.7mm grav_b=(-0.03,+0.07,-1.00) r=0.48m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(-0.07,+0.07,-0.99) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 117.0mm grav_b=(-0.07,-0.05,-1.00) r=0.47m +[headless_play] t= 19.50s step= 975 trunk_z= 118.0mm grav_b=(-0.04,-0.14,-0.99) r=0.46m +[headless_play] t= 19.60s step= 980 trunk_z= 112.1mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 19.70s step= 985 trunk_z= 119.8mm grav_b=(-0.06,+0.06,-1.00) r=0.44m +[headless_play] t= 19.80s step= 990 trunk_z= 119.4mm grav_b=(-0.11,-0.07,-0.99) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 120.2mm grav_b=(-0.05,-0.12,-0.99) r=0.42m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.0mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(-0.07,-0.01,-1.00) r=0.48m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..70ae19835c14b917707bb1ba1f53a9332cd8cdb1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.593,-17.625,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.8mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 0.10s step= 5 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.70s step= 35 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 0.90s step= 45 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.30s step= 65 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.40s step= 70 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.50s step= 75 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.60s step= 80 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.70s step= 85 trunk_z= 117.3mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.80s step= 90 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 1.90s step= 95 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.10s step= 105 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 117.4mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.40s step= 120 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(+0.03,-0.00,-1.00) r=0.55m +[headless_play] t= 2.60s step= 130 trunk_z= 117.5mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 2.70s step= 135 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 117.3mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 117.2mm grav_b=(+0.05,-0.00,-1.00) r=0.55m +[headless_play] t= 3.20s step= 160 trunk_z= 117.4mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.55m +[headless_play] t= 3.40s step= 170 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(+0.03,-0.00,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.04,-0.00,-1.00) r=0.55m +[headless_play] t= 3.80s step= 190 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 3.90s step= 195 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.00s step= 200 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 117.3mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.30s step= 215 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.40s step= 220 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.50s step= 225 trunk_z= 117.5mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.60s step= 230 trunk_z= 117.5mm grav_b=(+0.03,+0.00,-1.00) r=0.55m +[headless_play] t= 4.70s step= 235 trunk_z= 117.9mm grav_b=(+0.02,+0.02,-1.00) r=0.55m +[headless_play] t= 4.80s step= 240 trunk_z= 118.2mm grav_b=(+0.03,+0.04,-1.00) r=0.55m +[headless_play] t= 4.90s step= 245 trunk_z= 118.2mm grav_b=(+0.02,-0.02,-1.00) r=0.54m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(+0.02,+0.01,-1.00) r=0.53m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(+0.01,+0.07,-1.00) r=0.53m +[headless_play] t= 5.20s step= 260 trunk_z= 118.7mm grav_b=(+0.03,-0.01,-1.00) r=0.53m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.02,-0.07,-1.00) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.05,-0.02,-1.00) r=0.51m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.03,+0.04,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 120.9mm grav_b=(+0.03,+0.08,-1.00) r=0.58m +[headless_play] t= 5.70s step= 285 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.62m +[headless_play] t= 5.80s step= 290 trunk_z= 115.1mm grav_b=(-0.03,+0.11,-0.99) r=0.65m +[headless_play] t= 5.90s step= 295 trunk_z= 120.4mm grav_b=(-0.03,+0.10,-0.99) r=0.67m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.68m +[headless_play] t= 6.10s step= 305 trunk_z= 114.4mm grav_b=(+0.06,-0.03,-1.00) r=0.68m +[headless_play] t= 6.20s step= 310 trunk_z= 113.2mm grav_b=(+0.07,-0.02,-1.00) r=0.69m +[headless_play] t= 6.30s step= 315 trunk_z= 117.1mm grav_b=(+0.04,+0.04,-1.00) r=0.71m +[headless_play] t= 6.40s step= 320 trunk_z= 118.7mm grav_b=(+0.01,-0.02,-1.00) r=0.72m +[headless_play] t= 6.50s step= 325 trunk_z= 117.7mm grav_b=(+0.04,-0.07,-1.00) r=0.73m +[headless_play] t= 6.60s step= 330 trunk_z= 112.9mm grav_b=(+0.07,+0.07,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 119.4mm grav_b=(-0.00,+0.09,-1.00) r=0.75m +[headless_play] t= 6.80s step= 340 trunk_z= 115.1mm grav_b=(-0.05,-0.05,-1.00) r=0.77m +[headless_play] t= 6.90s step= 345 trunk_z= 118.6mm grav_b=(-0.05,+0.01,-1.00) r=0.78m +[headless_play] t= 7.00s step= 350 trunk_z= 106.6mm grav_b=(-0.06,+0.20,-0.98) r=0.78m +[headless_play] t= 7.10s step= 355 trunk_z= 103.1mm grav_b=(+0.05,+0.07,-1.00) r=0.78m +[headless_play] t= 7.20s step= 360 trunk_z= 106.9mm grav_b=(+0.09,-0.07,-0.99) r=0.79m +[headless_play] t= 7.30s step= 365 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) r=0.80m +[headless_play] t= 7.40s step= 370 trunk_z= 112.0mm grav_b=(+0.07,+0.03,-1.00) r=0.81m +[headless_play] t= 7.50s step= 375 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.83m +[headless_play] t= 7.60s step= 380 trunk_z= 87.5mm grav_b=(+0.02,-0.05,-1.00) r=0.86m +[headless_play] t= 7.70s step= 385 trunk_z= 88.3mm grav_b=(+0.04,-0.01,-1.00) r=0.89m +[headless_play] t= 7.80s step= 390 trunk_z= 86.9mm grav_b=(+0.01,+0.07,-1.00) r=0.91m +[headless_play] t= 7.90s step= 395 trunk_z= 89.4mm grav_b=(+0.02,+0.03,-1.00) r=0.92m +[headless_play] t= 8.00s step= 400 trunk_z= 83.3mm grav_b=(+0.05,-0.09,-0.99) r=0.93m +[headless_play] t= 8.10s step= 405 trunk_z= 88.0mm grav_b=(+0.05,-0.05,-1.00) r=0.93m +[headless_play] t= 8.20s step= 410 trunk_z= 84.2mm grav_b=(+0.07,-0.01,-1.00) r=0.95m +[headless_play] t= 8.30s step= 415 trunk_z= 91.2mm grav_b=(+0.03,+0.08,-1.00) r=0.97m +[headless_play] t= 8.40s step= 420 trunk_z= 92.0mm grav_b=(+0.04,+0.07,-1.00) r=0.98m +[headless_play] t= 8.50s step= 425 trunk_z= 87.1mm grav_b=(+0.05,-0.04,-1.00) r=0.98m +[headless_play] t= 8.60s step= 430 trunk_z= 89.7mm grav_b=(+0.05,-0.03,-1.00) r=0.99m +[headless_play] t= 8.70s step= 435 trunk_z= 87.5mm grav_b=(+0.08,-0.03,-1.00) r=1.00m +[headless_play] t= 8.80s step= 440 trunk_z= 85.6mm grav_b=(+0.05,+0.02,-1.00) r=1.01m +[headless_play] t= 8.90s step= 445 trunk_z= 92.3mm grav_b=(+0.04,+0.07,-1.00) r=1.03m +[headless_play] t= 9.00s step= 450 trunk_z= 90.3mm grav_b=(+0.07,+0.01,-1.00) r=1.04m +[headless_play] t= 9.10s step= 455 trunk_z= 89.5mm grav_b=(+0.02,-0.06,-1.00) r=1.05m +[headless_play] t= 9.20s step= 460 trunk_z= 88.2mm grav_b=(+0.07,-0.02,-1.00) r=1.06m +[headless_play] t= 9.30s step= 465 trunk_z= 84.3mm grav_b=(+0.05,+0.03,-1.00) r=1.08m +[headless_play] t= 9.40s step= 470 trunk_z= 92.4mm grav_b=(+0.03,+0.07,-1.00) r=1.10m +[headless_play] t= 9.50s step= 475 trunk_z= 90.4mm grav_b=(+0.08,+0.03,-1.00) r=1.11m +[headless_play] t= 9.60s step= 480 trunk_z= 88.8mm grav_b=(+0.04,-0.09,-1.00) r=1.12m +[headless_play] t= 9.70s step= 485 trunk_z= 88.9mm grav_b=(+0.07,-0.04,-1.00) r=1.13m +[headless_play] t= 9.80s step= 490 trunk_z= 86.8mm grav_b=(+0.10,-0.05,-0.99) r=1.14m +[headless_play] t= 9.90s step= 495 trunk_z= 89.5mm grav_b=(+0.03,+0.06,-1.00) r=1.16m +[headless_play] t= 10.00s step= 500 trunk_z= 92.5mm grav_b=(+0.01,+0.06,-1.00) r=1.17m +[headless_play] t= 10.10s step= 505 trunk_z= 91.1mm grav_b=(+0.00,+0.01,-1.00) r=1.15m +[headless_play] t= 10.20s step= 510 trunk_z= 93.2mm grav_b=(-0.09,-0.01,-1.00) r=1.12m +[headless_play] t= 10.30s step= 515 trunk_z= 84.9mm grav_b=(-0.19,+0.14,-0.97) r=1.10m +[headless_play] t= 10.40s step= 520 trunk_z= 32.9mm grav_b=(-0.08,+0.25,-0.96) r=1.08m +[headless_play] t= 10.50s step= 525 trunk_z= 42.9mm grav_b=(+0.30,+0.32,-0.90) r=1.07m +[headless_play] t= 10.60s step= 530 trunk_z= 80.9mm grav_b=(+0.45,+0.54,-0.71) r=1.08m +[headless_play] RESET at t= 10.70s step= 535 (env termination, not a recovery) +[headless_play] t= 10.70s step= 535 trunk_z= 123.0mm grav_b=(+0.00,-0.00,-1.00) r=0.49m +[headless_play] t= 10.80s step= 540 trunk_z= 115.0mm grav_b=(+0.02,+0.02,-1.00) r=0.49m +[headless_play] t= 10.90s step= 545 trunk_z= 114.9mm grav_b=(+0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 11.00s step= 550 trunk_z= 114.9mm grav_b=(+0.05,+0.00,-1.00) r=0.49m +[headless_play] t= 11.10s step= 555 trunk_z= 113.1mm grav_b=(+0.03,+0.04,-1.00) r=0.50m +[headless_play] t= 11.20s step= 560 trunk_z= 114.1mm grav_b=(-0.00,-0.08,-1.00) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 111.2mm grav_b=(+0.06,+0.00,-1.00) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 112.4mm grav_b=(+0.07,+0.03,-1.00) r=0.51m +[headless_play] t= 11.50s step= 575 trunk_z= 113.6mm grav_b=(+0.02,-0.09,-1.00) r=0.51m +[headless_play] t= 11.60s step= 580 trunk_z= 117.1mm grav_b=(+0.01,-0.10,-0.99) r=0.52m +[headless_play] t= 11.70s step= 585 trunk_z= 112.4mm grav_b=(+0.06,-0.05,-1.00) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 116.8mm grav_b=(+0.04,+0.02,-1.00) r=0.55m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 12.00s step= 600 trunk_z= 117.1mm grav_b=(+0.04,-0.13,-0.99) r=0.57m +[headless_play] t= 12.10s step= 605 trunk_z= 114.3mm grav_b=(+0.04,-0.00,-1.00) r=0.58m +[headless_play] t= 12.20s step= 610 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 12.30s step= 615 trunk_z= 113.6mm grav_b=(+0.03,-0.14,-0.99) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 113.1mm grav_b=(+0.04,-0.00,-1.00) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 115.7mm grav_b=(+0.04,+0.05,-1.00) r=0.64m +[headless_play] t= 12.60s step= 630 trunk_z= 112.7mm grav_b=(+0.03,-0.13,-0.99) r=0.66m +[headless_play] t= 12.70s step= 635 trunk_z= 115.6mm grav_b=(+0.02,-0.06,-1.00) r=0.67m +[headless_play] t= 12.80s step= 640 trunk_z= 110.8mm grav_b=(+0.04,+0.04,-1.00) r=0.69m +[headless_play] t= 12.90s step= 645 trunk_z= 115.9mm grav_b=(+0.05,-0.07,-1.00) r=0.70m +[headless_play] t= 13.00s step= 650 trunk_z= 115.6mm grav_b=(+0.03,-0.11,-0.99) r=0.71m +[headless_play] t= 13.10s step= 655 trunk_z= 112.7mm grav_b=(+0.03,+0.01,-1.00) r=0.73m +[headless_play] t= 13.20s step= 660 trunk_z= 116.6mm grav_b=(+0.04,-0.02,-1.00) r=0.75m +[headless_play] t= 13.30s step= 665 trunk_z= 113.6mm grav_b=(+0.02,-0.13,-0.99) r=0.76m +[headless_play] t= 13.40s step= 670 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) r=0.77m +[headless_play] t= 13.50s step= 675 trunk_z= 104.5mm grav_b=(-0.01,+0.09,-1.00) r=0.79m +[headless_play] t= 13.60s step= 680 trunk_z= 104.4mm grav_b=(+0.02,+0.27,-0.96) r=0.81m +[headless_play] t= 13.70s step= 685 trunk_z= 109.9mm grav_b=(+0.11,+0.21,-0.97) r=0.81m +[headless_play] t= 13.80s step= 690 trunk_z= 87.7mm grav_b=(+0.12,-0.08,-0.99) r=0.83m +[headless_play] t= 13.90s step= 695 trunk_z= 91.9mm grav_b=(+0.03,-0.02,-1.00) r=0.84m +[headless_play] t= 14.00s step= 700 trunk_z= 91.3mm grav_b=(-0.02,+0.07,-1.00) r=0.89m +[headless_play] t= 14.10s step= 705 trunk_z= 89.3mm grav_b=(-0.07,-0.12,-0.99) r=0.92m +[headless_play] t= 14.20s step= 710 trunk_z= 97.8mm grav_b=(-0.01,+0.01,-1.00) r=0.94m +[headless_play] t= 14.30s step= 715 trunk_z= 99.9mm grav_b=(-0.02,+0.13,-0.99) r=0.95m +[headless_play] t= 14.40s step= 720 trunk_z= 93.9mm grav_b=(+0.00,-0.04,-1.00) r=0.95m +[headless_play] t= 14.50s step= 725 trunk_z= 95.6mm grav_b=(-0.00,-0.04,-1.00) r=0.95m +[headless_play] t= 14.60s step= 730 trunk_z= 95.1mm grav_b=(+0.02,+0.04,-1.00) r=0.95m +[headless_play] t= 14.70s step= 735 trunk_z= 93.7mm grav_b=(+0.02,-0.08,-1.00) r=0.95m +[headless_play] t= 14.80s step= 740 trunk_z= 91.4mm grav_b=(-0.02,-0.03,-1.00) r=0.95m +[headless_play] t= 14.90s step= 745 trunk_z= 91.7mm grav_b=(-0.03,-0.01,-1.00) r=0.95m +[headless_play] t= 15.00s step= 750 trunk_z= 92.0mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 15.10s step= 755 trunk_z= 92.2mm grav_b=(+0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 15.20s step= 760 trunk_z= 92.4mm grav_b=(+0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 15.30s step= 765 trunk_z= 92.3mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 15.40s step= 770 trunk_z= 92.3mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 15.50s step= 775 trunk_z= 92.4mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 15.60s step= 780 trunk_z= 92.4mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 15.70s step= 785 trunk_z= 92.4mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 15.80s step= 790 trunk_z= 92.4mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 15.90s step= 795 trunk_z= 92.5mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 16.00s step= 800 trunk_z= 92.5mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 16.10s step= 805 trunk_z= 92.5mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 16.20s step= 810 trunk_z= 92.6mm grav_b=(-0.00,-0.01,-1.00) r=0.95m +[headless_play] t= 16.30s step= 815 trunk_z= 92.5mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.40s step= 820 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.50s step= 825 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.60s step= 830 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.70s step= 835 trunk_z= 92.6mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.80s step= 840 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 16.90s step= 845 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.00s step= 850 trunk_z= 92.7mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.10s step= 855 trunk_z= 92.8mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.20s step= 860 trunk_z= 92.8mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.30s step= 865 trunk_z= 92.8mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.40s step= 870 trunk_z= 92.9mm grav_b=(-0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.50s step= 875 trunk_z= 92.9mm grav_b=(+0.01,-0.01,-1.00) r=0.95m +[headless_play] t= 17.60s step= 880 trunk_z= 92.7mm grav_b=(+0.02,-0.01,-1.00) r=0.96m +[headless_play] t= 17.70s step= 885 trunk_z= 92.6mm grav_b=(+0.03,-0.01,-1.00) r=0.96m +[headless_play] t= 17.80s step= 890 trunk_z= 92.5mm grav_b=(+0.04,-0.01,-1.00) r=0.96m +[headless_play] t= 17.90s step= 895 trunk_z= 92.5mm grav_b=(+0.06,-0.01,-1.00) r=0.96m +[headless_play] t= 18.00s step= 900 trunk_z= 92.5mm grav_b=(+0.04,-0.01,-1.00) r=0.96m +[headless_play] t= 18.10s step= 905 trunk_z= 92.7mm grav_b=(+0.03,-0.01,-1.00) r=0.96m +[headless_play] t= 18.20s step= 910 trunk_z= 92.6mm grav_b=(+0.02,-0.01,-1.00) r=0.96m +[headless_play] t= 18.30s step= 915 trunk_z= 92.3mm grav_b=(+0.02,-0.01,-1.00) r=0.96m +[headless_play] t= 18.40s step= 920 trunk_z= 92.6mm grav_b=(+0.02,-0.01,-1.00) r=0.96m +[headless_play] t= 18.50s step= 925 trunk_z= 92.7mm grav_b=(+0.03,-0.01,-1.00) r=0.96m +[headless_play] t= 18.60s step= 930 trunk_z= 92.7mm grav_b=(+0.03,-0.01,-1.00) r=0.97m +[headless_play] t= 18.70s step= 935 trunk_z= 93.1mm grav_b=(+0.06,-0.01,-1.00) r=1.02m +[headless_play] t= 18.80s step= 940 trunk_z= 94.5mm grav_b=(+0.08,+0.01,-1.00) r=1.06m +[headless_play] t= 18.90s step= 945 trunk_z= 96.6mm grav_b=(+0.11,+0.02,-0.99) r=1.09m +[headless_play] t= 19.00s step= 950 trunk_z= 96.3mm grav_b=(+0.07,-0.10,-0.99) r=1.10m +[headless_play] t= 19.10s step= 955 trunk_z= 99.8mm grav_b=(-0.03,-0.02,-1.00) r=1.11m +[headless_play] t= 19.20s step= 960 trunk_z= 90.0mm grav_b=(-0.13,+0.04,-0.99) r=1.13m +[headless_play] t= 19.30s step= 965 trunk_z= 88.4mm grav_b=(-0.03,-0.09,-1.00) r=1.15m +[headless_play] t= 19.40s step= 970 trunk_z= 84.6mm grav_b=(+0.11,+0.01,-0.99) r=1.16m +[headless_play] t= 19.50s step= 975 trunk_z= 89.8mm grav_b=(+0.01,-0.05,-1.00) r=1.16m +[headless_play] t= 19.60s step= 980 trunk_z= 90.6mm grav_b=(+0.04,-0.02,-1.00) r=1.17m +[headless_play] t= 19.70s step= 985 trunk_z= 90.9mm grav_b=(+0.02,-0.01,-1.00) r=1.17m +[headless_play] t= 19.80s step= 990 trunk_z= 91.2mm grav_b=(+0.00,-0.01,-1.00) r=1.17m +[headless_play] t= 19.90s step= 995 trunk_z= 91.4mm grav_b=(+0.02,-0.01,-1.00) r=1.17m +[headless_play] t= 20.00s step=1000 trunk_z= 91.4mm grav_b=(+0.02,-0.01,-1.00) r=1.17m +[headless_play] t= 20.10s step=1005 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.17m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..6bcb1977115ba256f03b5f9a0002e34e3b615211 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t3.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.177,-18.059,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.19m +[headless_play] t= 0.10s step= 5 trunk_z= 115.5mm grav_b=(+0.04,+0.02,-1.00) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 115.2mm grav_b=(+0.08,+0.00,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 115.2mm grav_b=(+0.08,-0.04,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 113.4mm grav_b=(+0.06,+0.06,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 114.2mm grav_b=(+0.04,-0.00,-1.00) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(+0.04,-0.07,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 110.0mm grav_b=(+0.09,+0.05,-0.99) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 113.6mm grav_b=(+0.09,+0.05,-0.99) r=0.23m +[headless_play] t= 0.90s step= 45 trunk_z= 111.6mm grav_b=(+0.05,-0.07,-1.00) r=0.24m +[headless_play] t= 1.00s step= 50 trunk_z= 114.2mm grav_b=(+0.09,-0.03,-1.00) r=0.25m +[headless_play] t= 1.10s step= 55 trunk_z= 111.1mm grav_b=(+0.10,+0.06,-0.99) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 114.9mm grav_b=(+0.06,-0.00,-1.00) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 115.3mm grav_b=(+0.04,-0.07,-1.00) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 112.3mm grav_b=(+0.14,+0.02,-0.99) r=0.29m +[headless_play] t= 1.50s step= 75 trunk_z= 114.9mm grav_b=(+0.16,+0.07,-0.98) r=0.29m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(+0.01,-0.03,-1.00) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 121.5mm grav_b=(+0.07,-0.08,-0.99) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 115.4mm grav_b=(+0.06,+0.04,-1.00) r=0.33m +[headless_play] t= 1.90s step= 95 trunk_z= 118.6mm grav_b=(+0.01,+0.08,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 113.9mm grav_b=(+0.08,-0.03,-1.00) r=0.36m +[headless_play] t= 2.10s step= 105 trunk_z= 116.3mm grav_b=(+0.08,-0.03,-1.00) r=0.38m +[headless_play] t= 2.20s step= 110 trunk_z= 111.7mm grav_b=(+0.11,+0.04,-0.99) r=0.39m +[headless_play] t= 2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.08,+0.06,-0.99) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.06,-0.03,-1.00) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 117.8mm grav_b=(+0.05,-0.07,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 112.6mm grav_b=(+0.09,+0.05,-0.99) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 115.5mm grav_b=(+0.11,+0.06,-0.99) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 112.6mm grav_b=(+0.05,-0.07,-1.00) r=0.48m +[headless_play] t= 2.90s step= 145 trunk_z= 116.7mm grav_b=(+0.08,-0.05,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 111.4mm grav_b=(+0.11,+0.06,-0.99) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(+0.07,-0.02,-1.00) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 117.6mm grav_b=(+0.04,-0.09,-0.99) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 112.6mm grav_b=(+0.11,+0.00,-0.99) r=0.53m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(+0.10,+0.05,-0.99) r=0.53m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(+0.06,-0.04,-1.00) r=0.53m +[headless_play] t= 3.60s step= 180 trunk_z= 116.5mm grav_b=(+0.06,-0.05,-1.00) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 112.2mm grav_b=(+0.12,+0.02,-0.99) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 115.9mm grav_b=(+0.11,+0.06,-0.99) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 116.4mm grav_b=(+0.08,+0.01,-1.00) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 116.5mm grav_b=(+0.05,-0.08,-1.00) r=0.56m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(+0.11,-0.01,-0.99) r=0.56m +[headless_play] t= 4.20s step= 210 trunk_z= 115.8mm grav_b=(+0.09,+0.07,-0.99) r=0.56m +[headless_play] t= 4.30s step= 215 trunk_z= 116.5mm grav_b=(+0.07,+0.00,-1.00) r=0.57m +[headless_play] t= 4.40s step= 220 trunk_z= 116.7mm grav_b=(+0.05,-0.06,-1.00) r=0.58m +[headless_play] t= 4.50s step= 225 trunk_z= 115.1mm grav_b=(+0.10,-0.02,-0.99) r=0.58m +[headless_play] t= 4.60s step= 230 trunk_z= 114.5mm grav_b=(+0.11,+0.07,-0.99) r=0.57m +[headless_play] t= 4.70s step= 235 trunk_z= 120.0mm grav_b=(+0.05,+0.01,-1.00) r=0.57m +[headless_play] t= 4.80s step= 240 trunk_z= 120.5mm grav_b=(+0.14,-0.02,-0.99) r=0.56m +[headless_play] t= 4.90s step= 245 trunk_z= 115.4mm grav_b=(+0.06,+0.09,-0.99) r=0.56m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(+0.08,-0.10,-0.99) r=0.58m +[headless_play] t= 5.10s step= 255 trunk_z= 122.5mm grav_b=(+0.05,+0.01,-1.00) r=0.59m +[headless_play] t= 5.20s step= 260 trunk_z= 117.3mm grav_b=(-0.01,+0.11,-0.99) r=0.60m +[headless_play] t= 5.30s step= 265 trunk_z= 118.9mm grav_b=(+0.04,-0.00,-1.00) r=0.61m +[headless_play] t= 5.40s step= 270 trunk_z= 124.2mm grav_b=(+0.07,-0.07,-1.00) r=0.63m +[headless_play] t= 5.50s step= 275 trunk_z= 116.3mm grav_b=(+0.04,+0.15,-0.99) r=0.65m +[headless_play] t= 5.60s step= 280 trunk_z= 120.9mm grav_b=(+0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 5.70s step= 285 trunk_z= 122.1mm grav_b=(-0.00,-0.09,-1.00) r=0.68m +[headless_play] t= 5.80s step= 290 trunk_z= 118.4mm grav_b=(+0.03,+0.09,-1.00) r=0.69m +[headless_play] t= 5.90s step= 295 trunk_z= 123.1mm grav_b=(+0.06,+0.11,-0.99) r=0.70m +[headless_play] t= 6.00s step= 300 trunk_z= 118.8mm grav_b=(+0.05,-0.10,-0.99) r=0.71m +[headless_play] t= 6.10s step= 305 trunk_z= 120.3mm grav_b=(+0.06,+0.02,-1.00) r=0.72m +[headless_play] t= 6.20s step= 310 trunk_z= 121.3mm grav_b=(+0.06,+0.13,-0.99) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 119.5mm grav_b=(+0.01,-0.05,-1.00) r=0.75m +[headless_play] t= 6.40s step= 320 trunk_z= 123.7mm grav_b=(+0.05,-0.05,-1.00) r=0.76m +[headless_play] t= 6.50s step= 325 trunk_z= 118.6mm grav_b=(+0.07,+0.12,-0.99) r=0.77m +[headless_play] t= 6.60s step= 330 trunk_z= 120.9mm grav_b=(+0.03,-0.01,-1.00) r=0.78m +[headless_play] t= 6.70s step= 335 trunk_z= 122.7mm grav_b=(+0.02,-0.06,-1.00) r=0.79m +[headless_play] t= 6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.04,+0.13,-0.99) r=0.80m +[headless_play] t= 6.90s step= 345 trunk_z= 121.2mm grav_b=(+0.06,+0.03,-1.00) r=0.81m +[headless_play] t= 7.00s step= 350 trunk_z= 121.9mm grav_b=(+0.06,-0.04,-1.00) r=0.82m +[headless_play] t= 7.10s step= 355 trunk_z= 117.6mm grav_b=(+0.05,+0.14,-0.99) r=0.83m +[headless_play] t= 7.20s step= 360 trunk_z= 121.0mm grav_b=(+0.03,+0.04,-1.00) r=0.84m +[headless_play] t= 7.30s step= 365 trunk_z= 121.5mm grav_b=(+0.04,-0.06,-1.00) r=0.85m +[headless_play] t= 7.40s step= 370 trunk_z= 116.7mm grav_b=(+0.06,+0.11,-0.99) r=0.87m +[headless_play] t= 7.50s step= 375 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00) r=0.88m +[headless_play] t= 7.60s step= 380 trunk_z= 120.0mm grav_b=(+0.04,-0.04,-1.00) r=0.90m +[headless_play] t= 7.70s step= 385 trunk_z= 119.2mm grav_b=(+0.03,+0.10,-0.99) r=0.91m +[headless_play] t= 7.80s step= 390 trunk_z= 117.8mm grav_b=(+0.01,-0.10,-1.00) r=0.92m +[headless_play] t= 7.90s step= 395 trunk_z= 118.4mm grav_b=(+0.05,-0.04,-1.00) r=0.94m +[headless_play] t= 8.00s step= 400 trunk_z= 112.4mm grav_b=(+0.11,+0.07,-0.99) r=0.96m +[headless_play] t= 8.10s step= 405 trunk_z= 109.2mm grav_b=(-0.04,-0.21,-0.98) r=1.00m +[headless_play] t= 8.20s step= 410 trunk_z= 112.1mm grav_b=(-0.02,-0.17,-0.99) r=1.05m +[headless_play] t= 8.30s step= 415 trunk_z= 103.2mm grav_b=(+0.03,+0.03,-1.00) r=1.10m +[headless_play] t= 8.40s step= 420 trunk_z= 99.3mm grav_b=(+0.04,-0.24,-0.97) r=1.13m +[headless_play] t= 8.50s step= 425 trunk_z= 102.2mm grav_b=(+0.05,-0.22,-0.97) r=1.18m +[headless_play] t= 8.60s step= 430 trunk_z= 85.0mm grav_b=(+0.05,+0.03,-1.00) r=1.22m +[headless_play] t= 8.70s step= 435 trunk_z= 79.3mm grav_b=(-0.02,-0.22,-0.98) r=1.27m +[headless_play] t= 8.80s step= 440 trunk_z= 80.0mm grav_b=(+0.02,-0.19,-0.98) r=1.32m +[headless_play] t= 8.90s step= 445 trunk_z= 69.5mm grav_b=(+0.05,+0.03,-1.00) r=1.37m +[headless_play] t= 9.00s step= 450 trunk_z= 59.0mm grav_b=(-0.01,-0.23,-0.97) r=1.42m +[headless_play] t= 9.10s step= 455 trunk_z= 70.6mm grav_b=(-0.02,-0.23,-0.97) r=1.46m +[headless_play] t= 9.20s step= 460 trunk_z= 48.4mm grav_b=(+0.10,-0.05,-0.99) r=1.51m +[headless_play] t= 9.30s step= 465 trunk_z= 43.5mm grav_b=(+0.06,-0.20,-0.98) r=1.55m +[headless_play] t= 9.40s step= 470 trunk_z= 50.0mm grav_b=(+0.05,-0.27,-0.96) r=1.59m +[headless_play] t= 9.50s step= 475 trunk_z= 56.4mm grav_b=(+0.02,-0.17,-0.99) r=1.63m +[headless_play] t= 9.60s step= 480 trunk_z= 40.9mm grav_b=(+0.03,+0.01,-1.00) r=1.67m +[headless_play] t= 9.70s step= 485 trunk_z= 28.5mm grav_b=(-0.02,-0.18,-0.98) r=1.72m +[headless_play] t= 9.80s step= 490 trunk_z= 27.7mm grav_b=(+0.02,-0.12,-0.99) r=1.76m +[headless_play] t= 9.90s step= 495 trunk_z= 20.0mm grav_b=(+0.07,+0.02,-1.00) r=1.80m +[headless_play] t= 10.00s step= 500 trunk_z= 19.5mm grav_b=(+0.03,-0.23,-0.97) r=1.84m +[headless_play] t= 10.10s step= 505 trunk_z= 24.8mm grav_b=(+0.03,-0.18,-0.98) r=1.88m +[headless_play] t= 10.20s step= 510 trunk_z= 10.7mm grav_b=(+0.08,+0.04,-1.00) r=1.92m +[headless_play] t= 10.30s step= 515 trunk_z= 4.1mm grav_b=(-0.04,-0.15,-0.99) r=1.95m +[headless_play] t= 10.40s step= 520 trunk_z= 4.2mm grav_b=(+0.05,-0.09,-0.99) r=1.99m +[headless_play] t= 10.50s step= 525 trunk_z= -0.8mm grav_b=(+0.10,-0.05,-0.99) r=2.02m +[headless_play] t= 10.60s step= 530 trunk_z= -0.2mm grav_b=(+0.07,-0.16,-0.99) r=2.05m +[headless_play] t= 10.70s step= 535 trunk_z= -7.4mm grav_b=(+0.04,+0.05,-1.00) r=2.08m +[headless_play] t= 10.80s step= 540 trunk_z= -5.9mm grav_b=(+0.03,-0.07,-1.00) r=2.11m +[headless_play] t= 10.90s step= 545 trunk_z= -4.3mm grav_b=(+0.05,-0.16,-0.99) r=2.14m +[headless_play] t= 11.00s step= 550 trunk_z= -12.9mm grav_b=(+0.08,-0.02,-1.00) r=2.16m +[headless_play] t= 11.10s step= 555 trunk_z= -11.5mm grav_b=(+0.09,-0.08,-0.99) r=2.18m +[headless_play] t= 11.20s step= 560 trunk_z= -12.4mm grav_b=(+0.13,-0.06,-0.99) r=2.19m +[headless_play] t= 11.30s step= 565 trunk_z= -10.5mm grav_b=(+0.08,+0.04,-1.00) r=2.19m +[headless_play] t= 11.40s step= 570 trunk_z= -9.9mm grav_b=(+0.06,-0.02,-1.00) r=2.20m +[headless_play] t= 11.50s step= 575 trunk_z= -8.8mm grav_b=(+0.01,-0.07,-1.00) r=2.21m +[headless_play] t= 11.60s step= 580 trunk_z= -11.8mm grav_b=(-0.01,+0.04,-1.00) r=2.22m +[headless_play] t= 11.70s step= 585 trunk_z= -14.8mm grav_b=(-0.04,+0.01,-1.00) r=2.21m +[headless_play] t= 11.80s step= 590 trunk_z= -13.6mm grav_b=(-0.07,+0.00,-1.00) r=2.20m +[headless_play] t= 11.90s step= 595 trunk_z= -11.5mm grav_b=(-0.04,-0.04,-1.00) r=2.20m +[headless_play] t= 12.00s step= 600 trunk_z= -28.3mm grav_b=(+0.00,-0.14,-0.99) r=2.21m +[headless_play] t= 12.10s step= 605 trunk_z= -9.3mm grav_b=(+0.07,+0.01,-1.00) r=2.21m +[headless_play] t= 12.20s step= 610 trunk_z= -13.9mm grav_b=(+0.11,+0.07,-0.99) r=2.20m +[headless_play] t= 12.30s step= 615 trunk_z= -9.4mm grav_b=(+0.10,-0.03,-0.99) r=2.19m +[headless_play] t= 12.40s step= 620 trunk_z= -4.3mm grav_b=(+0.15,+0.18,-0.97) r=2.20m +[headless_play] t= 12.50s step= 625 trunk_z= -16.0mm grav_b=(+0.19,+0.17,-0.97) r=2.21m +[headless_play] t= 12.60s step= 630 trunk_z= -15.7mm grav_b=(+0.07,+0.03,-1.00) r=2.21m +[headless_play] t= 12.70s step= 635 trunk_z= -18.9mm grav_b=(-0.03,+0.02,-1.00) r=2.22m +[headless_play] t= 12.80s step= 640 trunk_z= -12.9mm grav_b=(-0.02,-0.01,-1.00) r=2.23m +[headless_play] t= 12.90s step= 645 trunk_z= -14.6mm grav_b=(+0.01,+0.13,-0.99) r=2.22m +[headless_play] t= 13.00s step= 650 trunk_z= -5.3mm grav_b=(+0.08,+0.09,-0.99) r=2.22m +[headless_play] t= 13.10s step= 655 trunk_z= -11.9mm grav_b=(+0.04,-0.04,-1.00) r=2.22m +[headless_play] t= 13.20s step= 660 trunk_z= -16.0mm grav_b=(-0.04,+0.02,-1.00) r=2.22m +[headless_play] t= 13.30s step= 665 trunk_z= -10.7mm grav_b=(+0.04,-0.01,-1.00) r=2.23m +[headless_play] t= 13.40s step= 670 trunk_z= -6.6mm grav_b=(+0.06,+0.01,-1.00) r=2.23m +[headless_play] t= 13.50s step= 675 trunk_z= -3.5mm grav_b=(+0.10,+0.12,-0.99) r=2.22m +[headless_play] t= 13.60s step= 680 trunk_z= 0.1mm grav_b=(+0.02,-0.02,-1.00) r=2.24m +[headless_play] t= 13.70s step= 685 trunk_z= -33.9mm grav_b=(-0.19,-0.02,-0.98) r=2.26m +[headless_play] t= 13.80s step= 690 trunk_z= -19.3mm grav_b=(-0.08,-0.02,-1.00) r=2.27m +[headless_play] t= 13.90s step= 695 trunk_z= -14.0mm grav_b=(+0.01,-0.04,-1.00) r=2.27m +[headless_play] t= 14.00s step= 700 trunk_z= -12.7mm grav_b=(+0.04,+0.08,-1.00) r=2.27m +[headless_play] t= 14.10s step= 705 trunk_z= -11.9mm grav_b=(+0.04,+0.04,-1.00) r=2.27m +[headless_play] t= 14.20s step= 710 trunk_z= -11.1mm grav_b=(+0.11,-0.03,-0.99) r=2.27m +[headless_play] t= 14.30s step= 715 trunk_z= -12.6mm grav_b=(+0.12,+0.17,-0.98) r=2.27m +[headless_play] t= 14.40s step= 720 trunk_z= -13.7mm grav_b=(+0.24,+0.12,-0.96) r=2.26m +[headless_play] t= 14.50s step= 725 trunk_z= -0.8mm grav_b=(+0.19,-0.18,-0.97) r=2.27m +[headless_play] t= 14.60s step= 730 trunk_z= -23.9mm grav_b=(-0.19,-0.54,-0.82) r=2.29m +[headless_play] t= 14.70s step= 735 trunk_z= -41.9mm grav_b=(-0.83,-0.23,-0.51) r=2.31m +[headless_play] RESET at t= 14.78s step= 739 (env termination, not a recovery) +[headless_play] t= 14.80s step= 740 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00) r=0.48m +[headless_play] t= 14.90s step= 745 trunk_z= 116.3mm grav_b=(+0.00,+0.03,-1.00) r=0.48m +[headless_play] t= 15.00s step= 750 trunk_z= 119.2mm grav_b=(+0.04,-0.02,-1.00) r=0.49m +[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(+0.06,-0.10,-0.99) r=0.50m +[headless_play] t= 15.20s step= 760 trunk_z= 118.0mm grav_b=(+0.06,+0.09,-0.99) r=0.51m +[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(+0.09,+0.05,-0.99) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 117.1mm grav_b=(+0.01,-0.10,-0.99) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 120.3mm grav_b=(+0.06,-0.02,-1.00) r=0.55m +[headless_play] t= 15.60s step= 780 trunk_z= 118.2mm grav_b=(+0.06,+0.09,-0.99) r=0.56m +[headless_play] t= 15.70s step= 785 trunk_z= 119.8mm grav_b=(+0.03,-0.06,-1.00) r=0.57m +[headless_play] t= 15.80s step= 790 trunk_z= 122.5mm grav_b=(+0.05,-0.06,-1.00) r=0.59m +[headless_play] t= 15.90s step= 795 trunk_z= 118.2mm grav_b=(+0.08,+0.13,-0.99) r=0.60m +[headless_play] t= 16.00s step= 800 trunk_z= 122.5mm grav_b=(+0.06,+0.02,-1.00) r=0.61m +[headless_play] t= 16.10s step= 805 trunk_z= 120.7mm grav_b=(+0.04,-0.07,-1.00) r=0.63m +[headless_play] t= 16.20s step= 810 trunk_z= 117.1mm grav_b=(+0.03,+0.11,-0.99) r=0.65m +[headless_play] t= 16.30s step= 815 trunk_z= 119.8mm grav_b=(+0.07,+0.01,-1.00) r=0.66m +[headless_play] t= 16.40s step= 820 trunk_z= 120.6mm grav_b=(+0.05,-0.11,-0.99) r=0.68m +[headless_play] t= 16.50s step= 825 trunk_z= 116.2mm grav_b=(+0.04,+0.09,-1.00) r=0.70m +[headless_play] t= 16.60s step= 830 trunk_z= 121.4mm grav_b=(+0.04,+0.05,-1.00) r=0.70m +[headless_play] t= 16.70s step= 835 trunk_z= 117.0mm grav_b=(+0.03,-0.11,-0.99) r=0.72m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(+0.06,+0.02,-1.00) r=0.73m +[headless_play] t= 16.90s step= 845 trunk_z= 121.7mm grav_b=(+0.04,+0.10,-0.99) r=0.74m +[headless_play] t= 17.00s step= 850 trunk_z= 120.3mm grav_b=(+0.04,-0.03,-1.00) r=0.76m +[headless_play] t= 17.10s step= 855 trunk_z= 118.3mm grav_b=(+0.06,+0.02,-1.00) r=0.77m +[headless_play] t= 17.20s step= 860 trunk_z= 119.1mm grav_b=(+0.07,+0.02,-1.00) r=0.79m +[headless_play] t= 17.30s step= 865 trunk_z= 116.1mm grav_b=(+0.07,-0.11,-0.99) r=0.80m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(+0.06,+0.07,-1.00) r=0.81m +[headless_play] t= 17.50s step= 875 trunk_z= 120.8mm grav_b=(+0.05,+0.03,-1.00) r=0.82m +[headless_play] t= 17.60s step= 880 trunk_z= 120.1mm grav_b=(+0.00,-0.17,-0.99) r=0.86m +[headless_play] t= 17.70s step= 885 trunk_z= 130.1mm grav_b=(+0.02,-0.23,-0.97) r=0.92m +[headless_play] t= 17.80s step= 890 trunk_z= 128.4mm grav_b=(+0.04,-0.30,-0.95) r=0.96m +[headless_play] t= 17.90s step= 895 trunk_z= 137.3mm grav_b=(-0.05,-0.48,-0.87) r=0.99m +[headless_play] t= 18.00s step= 900 trunk_z= 141.3mm grav_b=(-0.24,-0.65,-0.72) r=1.03m +[headless_play] RESET at t= 18.10s step= 905 (env termination, not a recovery) +[headless_play] t= 18.10s step= 905 trunk_z= 121.2mm grav_b=(+0.00,+0.00,-1.00) r=0.16m +[headless_play] t= 18.20s step= 910 trunk_z= 115.7mm grav_b=(+0.00,+0.02,-1.00) r=0.15m +[headless_play] t= 18.30s step= 915 trunk_z= 115.2mm grav_b=(+0.07,+0.02,-1.00) r=0.15m +[headless_play] t= 18.40s step= 920 trunk_z= 116.1mm grav_b=(+0.07,-0.06,-1.00) r=0.14m +[headless_play] t= 18.50s step= 925 trunk_z= 112.0mm grav_b=(+0.07,+0.07,-1.00) r=0.13m +[headless_play] t= 18.60s step= 930 trunk_z= 115.9mm grav_b=(+0.05,+0.00,-1.00) r=0.13m +[headless_play] t= 18.70s step= 935 trunk_z= 117.0mm grav_b=(+0.02,-0.14,-0.99) r=0.12m +[headless_play] t= 18.80s step= 940 trunk_z= 115.9mm grav_b=(+0.09,-0.05,-0.99) r=0.11m +[headless_play] t= 18.90s step= 945 trunk_z= 114.0mm grav_b=(+0.09,+0.07,-0.99) r=0.11m +[headless_play] t= 19.00s step= 950 trunk_z= 116.2mm grav_b=(+0.05,-0.06,-1.00) r=0.11m +[headless_play] t= 19.10s step= 955 trunk_z= 118.3mm grav_b=(+0.07,-0.11,-0.99) r=0.11m +[headless_play] t= 19.20s step= 960 trunk_z= 110.4mm grav_b=(+0.11,+0.03,-0.99) r=0.12m +[headless_play] t= 19.30s step= 965 trunk_z= 116.4mm grav_b=(+0.08,+0.04,-1.00) r=0.13m +[headless_play] t= 19.40s step= 970 trunk_z= 112.4mm grav_b=(+0.02,-0.13,-0.99) r=0.13m +[headless_play] t= 19.50s step= 975 trunk_z= 120.1mm grav_b=(+0.08,-0.11,-0.99) r=0.14m +[headless_play] t= 19.60s step= 980 trunk_z= 109.6mm grav_b=(+0.10,+0.05,-0.99) r=0.15m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.05,+0.02,-1.00) r=0.17m +[headless_play] t= 19.80s step= 990 trunk_z= 112.4mm grav_b=(+0.05,-0.12,-0.99) r=0.18m +[headless_play] t= 19.90s step= 995 trunk_z= 114.6mm grav_b=(+0.11,-0.03,-0.99) r=0.19m +[headless_play] t= 20.00s step=1000 trunk_z= 112.7mm grav_b=(+0.11,+0.07,-0.99) r=0.21m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.05,-0.05,-1.00) r=0.22m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..0e348372c38c1b0c2767243aeb55c52234fc79a9 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-18.454,-17.944,+0.153) +[headless_play] t= 0.00s step= 0 trunk_z= 125.3mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 114.9mm grav_b=(+0.04,+0.05,-1.00) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.07,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 114.6mm grav_b=(+0.08,-0.05,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(+0.08,+0.08,-0.99) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 115.2mm grav_b=(+0.05,-0.00,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 113.1mm grav_b=(+0.05,-0.07,-1.00) r=0.51m +[headless_play] t= 0.70s step= 35 trunk_z= 107.5mm grav_b=(+0.13,+0.07,-0.99) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 114.5mm grav_b=(+0.08,+0.01,-1.00) r=0.53m +[headless_play] t= 0.90s step= 45 trunk_z= 110.4mm grav_b=(+0.06,-0.10,-0.99) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 111.3mm grav_b=(+0.11,+0.03,-0.99) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 113.8mm grav_b=(+0.10,+0.01,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 109.0mm grav_b=(+0.06,-0.09,-0.99) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 111.5mm grav_b=(+0.10,+0.01,-0.99) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(+0.11,+0.06,-0.99) r=0.57m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(+0.07,+0.02,-1.00) r=0.57m +[headless_play] t= 1.60s step= 80 trunk_z= 111.2mm grav_b=(+0.08,-0.06,-1.00) r=0.58m +[headless_play] t= 1.70s step= 85 trunk_z= 111.8mm grav_b=(+0.10,+0.03,-0.99) r=0.58m +[headless_play] t= 1.80s step= 90 trunk_z= 112.2mm grav_b=(+0.11,+0.04,-0.99) r=0.58m +[headless_play] t= 1.90s step= 95 trunk_z= 111.0mm grav_b=(+0.05,-0.07,-1.00) r=0.58m +[headless_play] t= 2.00s step= 100 trunk_z= 113.4mm grav_b=(+0.10,-0.00,-0.99) r=0.58m +[headless_play] t= 2.10s step= 105 trunk_z= 111.7mm grav_b=(+0.10,+0.10,-0.99) r=0.58m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(+0.05,-0.06,-1.00) r=0.58m +[headless_play] t= 2.30s step= 115 trunk_z= 115.4mm grav_b=(+0.11,-0.05,-0.99) r=0.57m +[headless_play] t= 2.40s step= 120 trunk_z= 108.0mm grav_b=(+0.11,+0.10,-0.99) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 118.2mm grav_b=(+0.04,-0.02,-1.00) r=0.57m +[headless_play] t= 2.60s step= 130 trunk_z= 119.2mm grav_b=(+0.07,-0.09,-0.99) r=0.57m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(+0.08,+0.03,-1.00) r=0.56m +[headless_play] t= 2.80s step= 140 trunk_z= 123.1mm grav_b=(+0.03,+0.08,-1.00) r=0.55m +[headless_play] t= 2.90s step= 145 trunk_z= 117.5mm grav_b=(+0.05,-0.08,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(+0.07,+0.10,-0.99) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 121.5mm grav_b=(+0.07,+0.08,-0.99) r=0.51m +[headless_play] t= 3.20s step= 160 trunk_z= 120.1mm grav_b=(+0.04,-0.08,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 117.6mm grav_b=(+0.07,+0.05,-1.00) r=0.47m +[headless_play] t= 3.40s step= 170 trunk_z= 125.3mm grav_b=(+0.03,+0.10,-0.99) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(+0.04,-0.08,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.09,+0.08,-0.99) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 120.4mm grav_b=(+0.05,+0.03,-1.00) r=0.43m +[headless_play] t= 3.80s step= 190 trunk_z= 119.1mm grav_b=(+0.06,-0.03,-1.00) r=0.41m +[headless_play] t= 3.90s step= 195 trunk_z= 116.2mm grav_b=(+0.04,+0.15,-0.99) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 120.2mm grav_b=(-0.02,+0.00,-1.00) r=0.39m +[headless_play] t= 4.10s step= 205 trunk_z= 124.4mm grav_b=(+0.00,-0.07,-1.00) r=0.39m +[headless_play] t= 4.20s step= 210 trunk_z= 115.0mm grav_b=(+0.06,+0.13,-0.99) r=0.38m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(+0.12,+0.10,-0.99) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 117.5mm grav_b=(+0.10,-0.06,-0.99) r=0.40m +[headless_play] t= 4.50s step= 225 trunk_z= 119.8mm grav_b=(-0.01,+0.11,-0.99) r=0.38m +[headless_play] t= 4.60s step= 230 trunk_z= 119.5mm grav_b=(+0.01,+0.05,-1.00) r=0.36m +[headless_play] t= 4.70s step= 235 trunk_z= 119.9mm grav_b=(+0.06,-0.08,-0.99) r=0.34m +[headless_play] t= 4.80s step= 240 trunk_z= 113.1mm grav_b=(+0.09,+0.16,-0.98) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 122.5mm grav_b=(+0.09,+0.06,-0.99) r=0.32m +[headless_play] t= 5.00s step= 250 trunk_z= 120.6mm grav_b=(+0.06,-0.08,-0.99) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 119.0mm grav_b=(+0.00,+0.09,-1.00) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 121.6mm grav_b=(+0.02,+0.06,-1.00) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 119.4mm grav_b=(+0.06,-0.12,-0.99) r=0.25m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.08,+0.06,-1.00) r=0.24m +[headless_play] t= 5.50s step= 275 trunk_z= 124.1mm grav_b=(+0.05,+0.12,-0.99) r=0.23m +[headless_play] t= 5.60s step= 280 trunk_z= 116.9mm grav_b=(+0.03,-0.09,-1.00) r=0.22m +[headless_play] t= 5.70s step= 285 trunk_z= 119.0mm grav_b=(+0.09,+0.03,-1.00) r=0.21m +[headless_play] t= 5.80s step= 290 trunk_z= 121.2mm grav_b=(+0.08,+0.14,-0.99) r=0.20m +[headless_play] t= 5.90s step= 295 trunk_z= 119.7mm grav_b=(+0.01,-0.04,-1.00) r=0.19m +[headless_play] t= 6.00s step= 300 trunk_z= 121.7mm grav_b=(+0.08,-0.04,-1.00) r=0.18m +[headless_play] t= 6.10s step= 305 trunk_z= 117.2mm grav_b=(+0.05,+0.16,-0.99) r=0.16m +[headless_play] t= 6.20s step= 310 trunk_z= 122.1mm grav_b=(+0.05,+0.03,-1.00) r=0.16m +[headless_play] t= 6.30s step= 315 trunk_z= 121.1mm grav_b=(+0.06,-0.09,-0.99) r=0.15m +[headless_play] t= 6.40s step= 320 trunk_z= 115.1mm grav_b=(+0.06,+0.11,-0.99) r=0.14m +[headless_play] t= 6.50s step= 325 trunk_z= 121.1mm grav_b=(+0.02,+0.03,-1.00) r=0.13m +[headless_play] t= 6.60s step= 330 trunk_z= 120.7mm grav_b=(+0.07,-0.10,-0.99) r=0.13m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(+0.11,+0.06,-0.99) r=0.13m +[headless_play] t= 6.80s step= 340 trunk_z= 121.7mm grav_b=(+0.05,+0.07,-1.00) r=0.13m +[headless_play] t= 6.90s step= 345 trunk_z= 117.5mm grav_b=(-0.00,-0.09,-1.00) r=0.14m +[headless_play] t= 7.00s step= 350 trunk_z= 118.8mm grav_b=(+0.04,+0.04,-1.00) r=0.14m +[headless_play] t= 7.10s step= 355 trunk_z= 124.8mm grav_b=(+0.04,+0.12,-0.99) r=0.15m +[headless_play] t= 7.20s step= 360 trunk_z= 119.4mm grav_b=(+0.03,-0.05,-1.00) r=0.16m +[headless_play] t= 7.30s step= 365 trunk_z= 121.6mm grav_b=(+0.06,-0.01,-1.00) r=0.17m +[headless_play] t= 7.40s step= 370 trunk_z= 123.0mm grav_b=(+0.05,+0.02,-1.00) r=0.18m +[headless_play] t= 7.50s step= 375 trunk_z= 122.1mm grav_b=(+0.02,-0.11,-0.99) r=0.19m +[headless_play] t= 7.60s step= 380 trunk_z= 118.8mm grav_b=(+0.00,+0.06,-1.00) r=0.20m +[headless_play] t= 7.70s step= 385 trunk_z= 122.7mm grav_b=(+0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 7.80s step= 390 trunk_z= 121.3mm grav_b=(+0.07,-0.07,-1.00) r=0.23m +[headless_play] t= 7.90s step= 395 trunk_z= 121.8mm grav_b=(+0.06,+0.06,-1.00) r=0.28m +[headless_play] t= 8.00s step= 400 trunk_z= 115.9mm grav_b=(+0.02,-0.14,-0.99) r=0.32m +[headless_play] t= 8.10s step= 405 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00) r=0.36m +[headless_play] t= 8.20s step= 410 trunk_z= 125.4mm grav_b=(+0.03,-0.08,-1.00) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 123.5mm grav_b=(+0.04,-0.15,-0.99) r=0.42m +[headless_play] t= 8.40s step= 420 trunk_z= 118.4mm grav_b=(-0.00,+0.04,-1.00) r=0.44m +[headless_play] t= 8.50s step= 425 trunk_z= 117.2mm grav_b=(-0.08,-0.00,-1.00) r=0.46m +[headless_play] t= 8.60s step= 430 trunk_z= 119.9mm grav_b=(+0.01,-0.13,-0.99) r=0.49m +[headless_play] t= 8.70s step= 435 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 8.80s step= 440 trunk_z= 125.5mm grav_b=(+0.07,-0.04,-1.00) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 118.8mm grav_b=(+0.07,-0.12,-0.99) r=0.52m +[headless_play] t= 9.00s step= 450 trunk_z= 117.4mm grav_b=(+0.03,+0.13,-0.99) r=0.53m +[headless_play] t= 9.10s step= 455 trunk_z= 118.9mm grav_b=(-0.06,+0.08,-1.00) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 120.0mm grav_b=(+0.05,-0.09,-0.99) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 121.0mm grav_b=(+0.03,+0.04,-1.00) r=0.56m +[headless_play] t= 9.40s step= 470 trunk_z= 126.1mm grav_b=(+0.06,+0.10,-0.99) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 126.8mm grav_b=(+0.04,+0.03,-1.00) r=0.57m +[headless_play] t= 9.60s step= 480 trunk_z= 125.1mm grav_b=(+0.06,-0.05,-1.00) r=0.58m +[headless_play] t= 9.70s step= 485 trunk_z= 114.4mm grav_b=(+0.10,+0.18,-0.98) r=0.59m +[headless_play] t= 9.80s step= 490 trunk_z= 116.5mm grav_b=(+0.01,+0.02,-1.00) r=0.59m +[headless_play] t= 9.90s step= 495 trunk_z= 120.0mm grav_b=(+0.04,-0.11,-0.99) r=0.62m +[headless_play] t= 10.00s step= 500 trunk_z= 122.8mm grav_b=(+0.00,-0.05,-1.00) r=0.63m +[headless_play] t= 10.10s step= 505 trunk_z= 121.0mm grav_b=(-0.01,+0.03,-1.00) r=0.65m +[headless_play] t= 10.20s step= 510 trunk_z= 113.3mm grav_b=(-0.00,-0.18,-0.98) r=0.66m +[headless_play] t= 10.30s step= 515 trunk_z= 119.4mm grav_b=(+0.15,-0.14,-0.98) r=0.66m +[headless_play] t= 10.40s step= 520 trunk_z= 111.2mm grav_b=(+0.10,+0.08,-0.99) r=0.67m +[headless_play] t= 10.50s step= 525 trunk_z= 122.1mm grav_b=(+0.03,+0.04,-1.00) r=0.69m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(+0.03,-0.09,-1.00) r=0.71m +[headless_play] t= 10.70s step= 535 trunk_z= 120.0mm grav_b=(+0.08,-0.04,-1.00) r=0.73m +[headless_play] t= 10.80s step= 540 trunk_z= 114.4mm grav_b=(+0.13,+0.08,-0.99) r=0.74m +[headless_play] t= 10.90s step= 545 trunk_z= 119.4mm grav_b=(+0.03,-0.03,-1.00) r=0.75m +[headless_play] t= 11.00s step= 550 trunk_z= 117.6mm grav_b=(+0.05,-0.12,-0.99) r=0.77m +[headless_play] t= 11.10s step= 555 trunk_z= 111.5mm grav_b=(+0.13,+0.05,-0.99) r=0.79m +[headless_play] t= 11.20s step= 560 trunk_z= 119.0mm grav_b=(+0.05,+0.06,-1.00) r=0.80m +[headless_play] t= 11.30s step= 565 trunk_z= 94.0mm grav_b=(-0.01,-0.10,-0.99) r=0.84m +[headless_play] t= 11.40s step= 570 trunk_z= 95.0mm grav_b=(+0.10,-0.05,-0.99) r=0.87m +[headless_play] t= 11.50s step= 575 trunk_z= 95.0mm grav_b=(+0.07,+0.12,-0.99) r=0.91m +[headless_play] t= 11.60s step= 580 trunk_z= 95.3mm grav_b=(+0.06,-0.01,-1.00) r=0.94m +[headless_play] t= 11.70s step= 585 trunk_z= 94.2mm grav_b=(+0.08,-0.06,-0.99) r=0.96m +[headless_play] t= 11.80s step= 590 trunk_z= 91.6mm grav_b=(+0.06,+0.14,-0.99) r=0.98m +[headless_play] t= 11.90s step= 595 trunk_z= 95.6mm grav_b=(+0.06,+0.06,-1.00) r=1.00m +[headless_play] t= 12.00s step= 600 trunk_z= 89.7mm grav_b=(+0.04,-0.12,-0.99) r=1.02m +[headless_play] t= 12.10s step= 605 trunk_z= 90.9mm grav_b=(+0.11,+0.01,-0.99) r=1.03m +[headless_play] t= 12.20s step= 610 trunk_z= 91.6mm grav_b=(+0.09,+0.08,-0.99) r=1.05m +[headless_play] t= 12.30s step= 615 trunk_z= 94.0mm grav_b=(+0.02,-0.07,-1.00) r=1.06m +[headless_play] t= 12.40s step= 620 trunk_z= 98.6mm grav_b=(+0.05,-0.11,-0.99) r=1.08m +[headless_play] t= 12.50s step= 625 trunk_z= 88.1mm grav_b=(+0.13,+0.02,-0.99) r=1.09m +[headless_play] t= 12.60s step= 630 trunk_z= 95.7mm grav_b=(+0.04,+0.03,-1.00) r=1.09m +[headless_play] t= 12.70s step= 635 trunk_z= 89.0mm grav_b=(+0.06,-0.10,-0.99) r=1.11m +[headless_play] t= 12.80s step= 640 trunk_z= 90.5mm grav_b=(+0.12,-0.01,-0.99) r=1.12m +[headless_play] t= 12.90s step= 645 trunk_z= 92.5mm grav_b=(+0.12,+0.06,-0.99) r=1.12m +[headless_play] t= 13.00s step= 650 trunk_z= 91.8mm grav_b=(+0.01,-0.07,-1.00) r=1.12m +[headless_play] t= 13.10s step= 655 trunk_z= 96.8mm grav_b=(+0.03,-0.02,-1.00) r=1.14m +[headless_play] t= 13.20s step= 660 trunk_z= 91.8mm grav_b=(+0.05,+0.10,-0.99) r=1.15m +[headless_play] t= 13.30s step= 665 trunk_z= 91.4mm grav_b=(+0.06,-0.03,-1.00) r=1.16m +[headless_play] t= 13.40s step= 670 trunk_z= 93.0mm grav_b=(+0.09,-0.09,-0.99) r=1.18m +[headless_play] t= 13.50s step= 675 trunk_z= 88.0mm grav_b=(+0.04,+0.09,-1.00) r=1.20m +[headless_play] t= 13.60s step= 680 trunk_z= 101.4mm grav_b=(+0.14,+0.14,-0.98) r=1.23m +[headless_play] t= 13.70s step= 685 trunk_z= 84.1mm grav_b=(+0.12,-0.01,-0.99) r=1.27m +[headless_play] t= 13.80s step= 690 trunk_z= 97.3mm grav_b=(+0.05,+0.25,-0.97) r=1.30m +[headless_play] t= 13.90s step= 695 trunk_z= 100.2mm grav_b=(+0.14,+0.30,-0.94) r=1.33m +[headless_play] t= 14.00s step= 700 trunk_z= 88.2mm grav_b=(+0.16,+0.04,-0.99) r=1.36m +[headless_play] t= 14.10s step= 705 trunk_z= 92.6mm grav_b=(+0.00,-0.01,-1.00) r=1.39m +[headless_play] t= 14.20s step= 710 trunk_z= 91.2mm grav_b=(-0.09,+0.08,-0.99) r=1.40m +[headless_play] t= 14.30s step= 715 trunk_z= 86.4mm grav_b=(+0.10,-0.04,-0.99) r=1.40m +[headless_play] t= 14.40s step= 720 trunk_z= 90.8mm grav_b=(+0.12,-0.05,-0.99) r=1.41m +[headless_play] t= 14.50s step= 725 trunk_z= 94.3mm grav_b=(+0.13,+0.16,-0.98) r=1.41m +[headless_play] t= 14.60s step= 730 trunk_z= 98.3mm grav_b=(+0.12,+0.05,-0.99) r=1.40m +[headless_play] t= 14.70s step= 735 trunk_z= 100.9mm grav_b=(+0.00,+0.22,-0.97) r=1.40m +[headless_play] t= 14.80s step= 740 trunk_z= 92.5mm grav_b=(+0.03,+0.31,-0.95) r=1.38m +[headless_play] t= 14.90s step= 745 trunk_z= 98.6mm grav_b=(-0.03,+0.17,-0.98) r=1.36m +[headless_play] t= 15.00s step= 750 trunk_z= 94.5mm grav_b=(-0.02,-0.11,-0.99) r=1.34m +[headless_play] t= 15.10s step= 755 trunk_z= 97.1mm grav_b=(+0.06,-0.02,-1.00) r=1.34m +[headless_play] t= 15.20s step= 760 trunk_z= 92.2mm grav_b=(+0.11,+0.07,-0.99) r=1.35m +[headless_play] t= 15.30s step= 765 trunk_z= 94.4mm grav_b=(+0.04,-0.12,-0.99) r=1.34m +[headless_play] t= 15.40s step= 770 trunk_z= 97.7mm grav_b=(+0.02,-0.04,-1.00) r=1.34m +[headless_play] t= 15.50s step= 775 trunk_z= 94.4mm grav_b=(+0.04,+0.11,-0.99) r=1.34m +[headless_play] t= 15.60s step= 780 trunk_z= 93.0mm grav_b=(+0.02,-0.03,-1.00) r=1.34m +[headless_play] t= 15.70s step= 785 trunk_z= 91.3mm grav_b=(+0.08,+0.01,-1.00) r=1.33m +[headless_play] t= 15.80s step= 790 trunk_z= 95.1mm grav_b=(+0.08,+0.18,-0.98) r=1.32m +[headless_play] t= 15.90s step= 795 trunk_z= 99.4mm grav_b=(+0.05,+0.06,-1.00) r=1.31m +[headless_play] t= 16.00s step= 800 trunk_z= 94.1mm grav_b=(+0.03,-0.07,-1.00) r=1.29m +[headless_play] t= 16.10s step= 805 trunk_z= 87.2mm grav_b=(+0.02,+0.15,-0.99) r=1.27m +[headless_play] t= 16.20s step= 810 trunk_z= 101.1mm grav_b=(+0.05,+0.08,-1.00) r=1.26m +[headless_play] t= 16.30s step= 815 trunk_z= 93.8mm grav_b=(+0.09,-0.09,-0.99) r=1.24m +[headless_play] t= 16.40s step= 820 trunk_z= 98.2mm grav_b=(+0.04,+0.04,-1.00) r=1.22m +[headless_play] t= 16.50s step= 825 trunk_z= 98.8mm grav_b=(+0.00,+0.04,-1.00) r=1.20m +[headless_play] t= 16.60s step= 830 trunk_z= 90.6mm grav_b=(+0.02,-0.11,-0.99) r=1.18m +[headless_play] t= 16.70s step= 835 trunk_z= 94.1mm grav_b=(-0.00,+0.07,-1.00) r=1.16m +[headless_play] t= 16.80s step= 840 trunk_z= 96.7mm grav_b=(+0.02,+0.00,-1.00) r=1.14m +[headless_play] t= 16.90s step= 845 trunk_z= 95.7mm grav_b=(+0.05,-0.11,-0.99) r=1.13m +[headless_play] t= 17.00s step= 850 trunk_z= 92.8mm grav_b=(-0.02,+0.10,-0.99) r=1.12m +[headless_play] t= 17.10s step= 855 trunk_z= 98.8mm grav_b=(-0.03,+0.06,-1.00) r=1.10m +[headless_play] t= 17.20s step= 860 trunk_z= 94.4mm grav_b=(+0.02,-0.11,-0.99) r=1.07m +[headless_play] t= 17.30s step= 865 trunk_z= 99.2mm grav_b=(+0.14,+0.02,-0.99) r=1.03m +[headless_play] t= 17.40s step= 870 trunk_z= 91.8mm grav_b=(+0.18,+0.04,-0.98) r=0.99m +[headless_play] t= 17.50s step= 875 trunk_z= 85.9mm grav_b=(+0.33,-0.26,-0.91) r=0.94m +[headless_play] t= 17.60s step= 880 trunk_z= 62.5mm grav_b=(+0.27,-0.25,-0.93) r=0.89m +[headless_play] t= 17.70s step= 885 trunk_z= 78.9mm grav_b=(+0.04,-0.06,-1.00) r=0.88m +[headless_play] t= 17.80s step= 890 trunk_z= 86.5mm grav_b=(+0.01,-0.15,-0.99) r=0.86m +[headless_play] t= 17.90s step= 895 trunk_z= 96.5mm grav_b=(+0.10,+0.02,-1.00) r=0.86m +[headless_play] t= 18.00s step= 900 trunk_z= 87.4mm grav_b=(-0.02,+0.12,-0.99) r=0.85m +[headless_play] t= 18.10s step= 905 trunk_z= 98.1mm grav_b=(+0.02,-0.03,-1.00) r=0.86m +[headless_play] t= 18.20s step= 910 trunk_z= 97.2mm grav_b=(+0.09,-0.08,-0.99) r=0.86m +[headless_play] t= 18.30s step= 915 trunk_z= 88.8mm grav_b=(-0.03,+0.10,-0.99) r=0.88m +[headless_play] t= 18.40s step= 920 trunk_z= 92.7mm grav_b=(-0.08,+0.02,-1.00) r=0.89m +[headless_play] t= 18.50s step= 925 trunk_z= 88.1mm grav_b=(+0.00,-0.13,-0.99) r=0.89m +[headless_play] t= 18.60s step= 930 trunk_z= 90.6mm grav_b=(+0.10,-0.04,-0.99) r=0.90m +[headless_play] t= 18.70s step= 935 trunk_z= 93.9mm grav_b=(+0.06,-0.00,-1.00) r=0.91m +[headless_play] t= 18.80s step= 940 trunk_z= 95.6mm grav_b=(+0.05,+0.02,-1.00) r=0.91m +[headless_play] t= 18.90s step= 945 trunk_z= 97.7mm grav_b=(+0.01,+0.04,-1.00) r=0.90m +[headless_play] t= 19.00s step= 950 trunk_z= 93.0mm grav_b=(+0.03,-0.09,-1.00) r=0.90m +[headless_play] t= 19.10s step= 955 trunk_z= 98.9mm grav_b=(+0.08,-0.02,-1.00) r=0.90m +[headless_play] t= 19.20s step= 960 trunk_z= 95.3mm grav_b=(-0.03,+0.11,-0.99) r=0.90m +[headless_play] t= 19.30s step= 965 trunk_z= 98.5mm grav_b=(-0.04,+0.02,-1.00) r=0.90m +[headless_play] t= 19.40s step= 970 trunk_z= 97.8mm grav_b=(+0.06,-0.10,-0.99) r=0.91m +[headless_play] t= 19.50s step= 975 trunk_z= 94.6mm grav_b=(+0.10,+0.06,-0.99) r=0.92m +[headless_play] t= 19.60s step= 980 trunk_z= 98.4mm grav_b=(-0.00,+0.04,-1.00) r=0.92m +[headless_play] t= 19.70s step= 985 trunk_z= 93.5mm grav_b=(-0.00,-0.09,-1.00) r=0.93m +[headless_play] t= 19.80s step= 990 trunk_z= 97.5mm grav_b=(+0.06,+0.00,-1.00) r=0.94m +[headless_play] t= 19.90s step= 995 trunk_z= 98.2mm grav_b=(+0.07,+0.12,-0.99) r=0.94m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(+0.06,+0.01,-1.00) r=0.51m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..a3ce80e6cd22abfa4cc8dfe93fd889556fce6a1d --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t5.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.195,-18.418,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.3mm grav_b=(-0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(+0.04,-0.01,-1.00) r=0.47m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.09,-0.01,-1.00) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 117.4mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 117.9mm grav_b=(+0.00,-0.01,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 4.50s step= 225 trunk_z= 117.7mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 4.60s step= 230 trunk_z= 117.1mm grav_b=(+0.05,-0.02,-1.00) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 116.6mm grav_b=(+0.11,-0.02,-0.99) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 118.7mm grav_b=(+0.10,-0.03,-0.99) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 120.3mm grav_b=(+0.10,-0.04,-0.99) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 120.1mm grav_b=(+0.09,-0.03,-1.00) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 119.8mm grav_b=(+0.07,-0.03,-1.00) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 118.5mm grav_b=(+0.03,-0.03,-1.00) r=0.45m +[headless_play] t= 5.30s step= 265 trunk_z= 117.8mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 5.50s step= 275 trunk_z= 117.4mm grav_b=(+0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(+0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 5.70s step= 285 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=0.45m +[headless_play] t= 5.80s step= 290 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 5.90s step= 295 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 6.10s step= 305 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.40s step= 320 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 117.5mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.80s step= 340 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 6.90s step= 345 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.10s step= 355 trunk_z= 117.8mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.20s step= 360 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.30s step= 365 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.40s step= 370 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.50s step= 375 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.60s step= 380 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.70s step= 385 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.80s step= 390 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 7.90s step= 395 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.00s step= 400 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.10s step= 405 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.30s step= 415 trunk_z= 117.7mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.40s step= 420 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 8.70s step= 435 trunk_z= 117.6mm grav_b=(+0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 8.80s step= 440 trunk_z= 117.4mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 8.90s step= 445 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.00s step= 450 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.30s step= 465 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.40s step= 470 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.50s step= 475 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.60s step= 480 trunk_z= 117.6mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.70s step= 485 trunk_z= 117.8mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.80s step= 490 trunk_z= 117.7mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 9.90s step= 495 trunk_z= 117.6mm grav_b=(+0.04,-0.00,-1.00) r=0.45m +[headless_play] t= 10.00s step= 500 trunk_z= 117.2mm grav_b=(+0.06,-0.00,-1.00) r=0.46m +[headless_play] t= 10.10s step= 505 trunk_z= 117.2mm grav_b=(+0.08,-0.00,-1.00) r=0.46m +[headless_play] t= 10.20s step= 510 trunk_z= 117.3mm grav_b=(+0.07,-0.00,-1.00) r=0.46m +[headless_play] t= 10.30s step= 515 trunk_z= 117.3mm grav_b=(+0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 10.40s step= 520 trunk_z= 117.3mm grav_b=(+0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 10.50s step= 525 trunk_z= 117.4mm grav_b=(+0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 10.60s step= 530 trunk_z= 117.3mm grav_b=(+0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(+0.06,+0.00,-1.00) r=0.46m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(+0.06,+0.06,-1.00) r=0.47m +[headless_play] t= 10.90s step= 545 trunk_z= 113.5mm grav_b=(+0.08,+0.08,-0.99) r=0.48m +[headless_play] t= 11.00s step= 550 trunk_z= 114.0mm grav_b=(+0.07,-0.02,-1.00) r=0.49m +[headless_play] t= 11.10s step= 555 trunk_z= 112.0mm grav_b=(+0.08,-0.10,-0.99) r=0.50m +[headless_play] t= 11.20s step= 560 trunk_z= 111.1mm grav_b=(+0.13,-0.09,-0.99) r=0.51m +[headless_play] t= 11.30s step= 565 trunk_z= 110.9mm grav_b=(+0.16,-0.04,-0.99) r=0.52m +[headless_play] t= 11.40s step= 570 trunk_z= 114.3mm grav_b=(+0.06,+0.05,-1.00) r=0.54m +[headless_play] t= 11.50s step= 575 trunk_z= 113.7mm grav_b=(-0.01,-0.08,-1.00) r=0.56m +[headless_play] t= 11.60s step= 580 trunk_z= 113.3mm grav_b=(+0.07,+0.01,-1.00) r=0.58m +[headless_play] t= 11.70s step= 585 trunk_z= 107.9mm grav_b=(+0.13,+0.11,-0.99) r=0.59m +[headless_play] t= 11.80s step= 590 trunk_z= 113.1mm grav_b=(+0.11,+0.02,-0.99) r=0.61m +[headless_play] t= 11.90s step= 595 trunk_z= 110.8mm grav_b=(+0.08,-0.08,-0.99) r=0.63m +[headless_play] t= 12.00s step= 600 trunk_z= 111.9mm grav_b=(+0.12,-0.05,-0.99) r=0.65m +[headless_play] t= 12.10s step= 605 trunk_z= 109.0mm grav_b=(+0.18,+0.02,-0.98) r=0.68m +[headless_play] t= 12.20s step= 610 trunk_z= 115.0mm grav_b=(+0.12,-0.06,-0.99) r=0.70m +[headless_play] t= 12.30s step= 615 trunk_z= 118.2mm grav_b=(+0.06,-0.11,-0.99) r=0.73m +[headless_play] t= 12.40s step= 620 trunk_z= 120.4mm grav_b=(+0.02,+0.05,-1.00) r=0.76m +[headless_play] t= 12.50s step= 625 trunk_z= 118.5mm grav_b=(+0.01,+0.09,-1.00) r=0.79m +[headless_play] t= 12.60s step= 630 trunk_z= 111.6mm grav_b=(+0.06,-0.13,-0.99) r=0.81m +[headless_play] t= 12.70s step= 635 trunk_z= 113.3mm grav_b=(+0.15,-0.07,-0.99) r=0.82m +[headless_play] t= 12.80s step= 640 trunk_z= 110.8mm grav_b=(+0.08,+0.05,-1.00) r=0.84m +[headless_play] t= 12.90s step= 645 trunk_z= 100.0mm grav_b=(+0.01,+0.31,-0.95) r=0.86m +[headless_play] t= 13.00s step= 650 trunk_z= 105.2mm grav_b=(+0.12,+0.38,-0.92) r=0.87m +[headless_play] t= 13.10s step= 655 trunk_z= 91.6mm grav_b=(+0.28,+0.02,-0.96) r=0.88m +[headless_play] t= 13.20s step= 660 trunk_z= 86.8mm grav_b=(+0.08,-0.10,-0.99) r=0.90m +[headless_play] t= 13.30s step= 665 trunk_z= 101.5mm grav_b=(+0.09,-0.06,-0.99) r=0.92m +[headless_play] t= 13.40s step= 670 trunk_z= 90.0mm grav_b=(-0.03,+0.11,-0.99) r=0.96m +[headless_play] t= 13.50s step= 675 trunk_z= 89.1mm grav_b=(-0.10,-0.10,-0.99) r=0.99m +[headless_play] t= 13.60s step= 680 trunk_z= 89.5mm grav_b=(+0.12,+0.04,-0.99) r=1.02m +[headless_play] t= 13.70s step= 685 trunk_z= 89.9mm grav_b=(+0.09,+0.09,-0.99) r=1.05m +[headless_play] t= 13.80s step= 690 trunk_z= 86.8mm grav_b=(+0.09,-0.12,-0.99) r=1.06m +[headless_play] t= 13.90s step= 695 trunk_z= 88.9mm grav_b=(+0.08,-0.00,-1.00) r=1.07m +[headless_play] t= 14.00s step= 700 trunk_z= 89.3mm grav_b=(+0.05,+0.03,-1.00) r=1.07m +[headless_play] t= 14.10s step= 705 trunk_z= 89.2mm grav_b=(+0.07,+0.01,-1.00) r=1.08m +[headless_play] t= 14.20s step= 710 trunk_z= 89.3mm grav_b=(+0.10,+0.01,-0.99) r=1.08m +[headless_play] t= 14.30s step= 715 trunk_z= 89.7mm grav_b=(+0.10,+0.00,-1.00) r=1.07m +[headless_play] t= 14.40s step= 720 trunk_z= 90.4mm grav_b=(+0.06,-0.00,-1.00) r=1.07m +[headless_play] t= 14.50s step= 725 trunk_z= 90.8mm grav_b=(+0.06,-0.00,-1.00) r=1.07m +[headless_play] t= 14.60s step= 730 trunk_z= 90.8mm grav_b=(+0.05,-0.00,-1.00) r=1.07m +[headless_play] t= 14.70s step= 735 trunk_z= 90.9mm grav_b=(+0.04,-0.00,-1.00) r=1.07m +[headless_play] t= 14.80s step= 740 trunk_z= 91.0mm grav_b=(+0.04,-0.00,-1.00) r=1.07m +[headless_play] t= 14.90s step= 745 trunk_z= 91.0mm grav_b=(+0.04,-0.00,-1.00) r=1.07m +[headless_play] t= 15.00s step= 750 trunk_z= 91.1mm grav_b=(+0.04,-0.00,-1.00) r=1.07m +[headless_play] t= 15.10s step= 755 trunk_z= 90.9mm grav_b=(+0.04,-0.00,-1.00) r=1.07m +[headless_play] t= 15.20s step= 760 trunk_z= 91.3mm grav_b=(+0.01,-0.01,-1.00) r=1.04m +[headless_play] t= 15.30s step= 765 trunk_z= 91.6mm grav_b=(-0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 15.40s step= 770 trunk_z= 92.3mm grav_b=(-0.02,-0.01,-1.00) r=1.03m +[headless_play] t= 15.50s step= 775 trunk_z= 92.0mm grav_b=(+0.01,-0.01,-1.00) r=1.03m +[headless_play] t= 15.60s step= 780 trunk_z= 90.9mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 15.70s step= 785 trunk_z= 91.1mm grav_b=(+0.09,-0.01,-1.00) r=1.04m +[headless_play] t= 15.80s step= 790 trunk_z= 91.5mm grav_b=(+0.08,-0.01,-1.00) r=1.04m +[headless_play] t= 15.90s step= 795 trunk_z= 91.3mm grav_b=(+0.06,-0.01,-1.00) r=1.04m +[headless_play] t= 16.00s step= 800 trunk_z= 91.4mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 16.10s step= 805 trunk_z= 91.4mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 16.20s step= 810 trunk_z= 91.5mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 16.30s step= 815 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.40s step= 820 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.50s step= 825 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.60s step= 830 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.70s step= 835 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.80s step= 840 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 16.90s step= 845 trunk_z= 91.5mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 17.00s step= 850 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 17.10s step= 855 trunk_z= 91.6mm grav_b=(+0.03,-0.01,-1.00) r=1.04m +[headless_play] t= 17.20s step= 860 trunk_z= 91.6mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 17.30s step= 865 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 17.40s step= 870 trunk_z= 91.7mm grav_b=(+0.03,-0.01,-1.00) r=1.03m +[headless_play] t= 17.50s step= 875 trunk_z= 91.7mm grav_b=(+0.04,-0.01,-1.00) r=1.03m +[headless_play] t= 17.60s step= 880 trunk_z= 91.8mm grav_b=(+0.04,-0.01,-1.00) r=1.03m +[headless_play] t= 17.70s step= 885 trunk_z= 91.8mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 17.80s step= 890 trunk_z= 91.8mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 17.90s step= 895 trunk_z= 92.0mm grav_b=(+0.06,-0.00,-1.00) r=1.04m +[headless_play] t= 18.00s step= 900 trunk_z= 92.3mm grav_b=(+0.07,-0.00,-1.00) r=1.04m +[headless_play] t= 18.10s step= 905 trunk_z= 92.4mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 18.20s step= 910 trunk_z= 92.8mm grav_b=(+0.04,+0.00,-1.00) r=1.04m +[headless_play] t= 18.30s step= 915 trunk_z= 92.9mm grav_b=(+0.05,-0.00,-1.00) r=1.04m +[headless_play] t= 18.40s step= 920 trunk_z= 92.9mm grav_b=(+0.06,-0.00,-1.00) r=1.04m +[headless_play] t= 18.50s step= 925 trunk_z= 93.0mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 18.60s step= 930 trunk_z= 93.0mm grav_b=(+0.05,-0.00,-1.00) r=1.04m +[headless_play] t= 18.70s step= 935 trunk_z= 93.0mm grav_b=(+0.05,-0.00,-1.00) r=1.04m +[headless_play] t= 18.80s step= 940 trunk_z= 93.0mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 18.90s step= 945 trunk_z= 93.2mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 19.00s step= 950 trunk_z= 93.2mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 19.10s step= 955 trunk_z= 93.2mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 19.20s step= 960 trunk_z= 93.2mm grav_b=(+0.05,-0.01,-1.00) r=1.04m +[headless_play] t= 19.30s step= 965 trunk_z= 93.1mm grav_b=(+0.05,-0.00,-1.00) r=1.04m +[headless_play] t= 19.40s step= 970 trunk_z= 93.1mm grav_b=(+0.04,-0.00,-1.00) r=1.04m +[headless_play] t= 19.50s step= 975 trunk_z= 93.1mm grav_b=(+0.04,-0.00,-1.00) r=1.04m +[headless_play] t= 19.60s step= 980 trunk_z= 93.1mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 19.70s step= 985 trunk_z= 93.3mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 19.80s step= 990 trunk_z= 93.3mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[headless_play] t= 19.90s step= 995 trunk_z= 93.3mm grav_b=(+0.04,-0.01,-1.00) r=1.04m +[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=0.19m +[headless_play] t= 20.10s step=1005 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00) r=0.20m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..d9bde5e6609231b07649aba531b9c9276928cf74 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-13.504,-18.469,+0.253) +[headless_play] t= 0.00s step= 0 trunk_z= 122.9mm grav_b=(-0.01,-0.00,-1.00) r=0.68m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00) r=0.68m +[headless_play] t= 0.20s step= 10 trunk_z= 116.5mm grav_b=(+0.07,-0.00,-1.00) r=0.68m +[headless_play] t= 0.30s step= 15 trunk_z= 117.6mm grav_b=(+0.06,-0.01,-1.00) r=0.68m +[headless_play] t= 0.40s step= 20 trunk_z= 116.9mm grav_b=(+0.04,-0.01,-1.00) r=0.68m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.69m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(+0.02,+0.00,-1.00) r=0.69m +[headless_play] t= 0.70s step= 35 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 0.90s step= 45 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 1.00s step= 50 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.30s step= 65 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.40s step= 70 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.50s step= 75 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.60s step= 80 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.70s step= 85 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.80s step= 90 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 1.90s step= 95 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 2.00s step= 100 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 2.10s step= 105 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.80s step= 140 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 3.10s step= 155 trunk_z= 116.7mm grav_b=(+0.02,+0.01,-1.00) r=0.69m +[headless_play] t= 3.20s step= 160 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.69m +[headless_play] t= 3.40s step= 170 trunk_z= 117.1mm grav_b=(+0.02,+0.00,-1.00) r=0.73m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.79m +[headless_play] t= 3.60s step= 180 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.83m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(+0.03,+0.01,-1.00) r=0.86m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.10s step= 205 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.20s step= 210 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.50s step= 225 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.60s step= 230 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.70s step= 235 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 4.80s step= 240 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 5.10s step= 255 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 5.20s step= 260 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.30s step= 265 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.40s step= 270 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.60s step= 280 trunk_z= 117.7mm grav_b=(+0.02,+0.01,-1.00) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 5.80s step= 290 trunk_z= 117.8mm grav_b=(+0.03,+0.01,-1.00) r=0.88m +[headless_play] t= 5.90s step= 295 trunk_z= 117.5mm grav_b=(+0.04,+0.01,-1.00) r=0.88m +[headless_play] t= 6.00s step= 300 trunk_z= 117.6mm grav_b=(+0.05,+0.00,-1.00) r=0.88m +[headless_play] t= 6.10s step= 305 trunk_z= 117.4mm grav_b=(+0.08,-0.00,-1.00) r=0.88m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.09,+0.01,-1.00) r=0.88m +[headless_play] t= 6.30s step= 315 trunk_z= 117.5mm grav_b=(+0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 6.40s step= 320 trunk_z= 117.5mm grav_b=(+0.05,+0.01,-1.00) r=0.88m +[headless_play] t= 6.50s step= 325 trunk_z= 117.6mm grav_b=(+0.07,+0.00,-1.00) r=0.88m +[headless_play] t= 6.60s step= 330 trunk_z= 117.7mm grav_b=(+0.08,+0.01,-1.00) r=0.88m +[headless_play] t= 6.70s step= 335 trunk_z= 117.6mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 6.80s step= 340 trunk_z= 117.6mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 6.90s step= 345 trunk_z= 117.6mm grav_b=(+0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 7.00s step= 350 trunk_z= 117.6mm grav_b=(+0.06,+0.01,-1.00) r=0.88m +[headless_play] t= 7.10s step= 355 trunk_z= 117.6mm grav_b=(+0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 7.20s step= 360 trunk_z= 117.6mm grav_b=(+0.07,+0.00,-1.00) r=0.88m +[headless_play] t= 7.30s step= 365 trunk_z= 117.6mm grav_b=(+0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 7.40s step= 370 trunk_z= 117.6mm grav_b=(+0.07,+0.01,-1.00) r=0.88m +[headless_play] t= 7.50s step= 375 trunk_z= 118.3mm grav_b=(+0.09,-0.00,-1.00) r=0.91m +[headless_play] t= 7.60s step= 380 trunk_z= 119.0mm grav_b=(+0.09,-0.02,-1.00) r=0.95m +[headless_play] t= 7.70s step= 385 trunk_z= 118.6mm grav_b=(+0.07,-0.02,-1.00) r=0.98m +[headless_play] t= 7.80s step= 390 trunk_z= 117.6mm grav_b=(+0.01,-0.02,-1.00) r=0.99m +[headless_play] t= 7.90s step= 395 trunk_z= 114.7mm grav_b=(+0.08,+0.03,-1.00) r=1.00m +[headless_play] t= 8.00s step= 400 trunk_z= 115.3mm grav_b=(+0.11,-0.05,-0.99) r=1.01m +[headless_play] t= 8.10s step= 405 trunk_z= 114.7mm grav_b=(+0.05,-0.06,-1.00) r=1.02m +[headless_play] t= 8.20s step= 410 trunk_z= 114.2mm grav_b=(+0.04,-0.07,-1.00) r=1.03m +[headless_play] t= 8.30s step= 415 trunk_z= 113.9mm grav_b=(+0.04,-0.08,-1.00) r=1.03m +[headless_play] t= 8.40s step= 420 trunk_z= 113.9mm grav_b=(+0.06,-0.08,-1.00) r=1.03m +[headless_play] t= 8.50s step= 425 trunk_z= 113.9mm grav_b=(+0.06,-0.08,-0.99) r=1.03m +[headless_play] t= 8.60s step= 430 trunk_z= 113.9mm grav_b=(+0.06,-0.08,-0.99) r=1.03m +[headless_play] t= 8.70s step= 435 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 8.80s step= 440 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 8.90s step= 445 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 9.00s step= 450 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 9.10s step= 455 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 9.20s step= 460 trunk_z= 113.9mm grav_b=(+0.05,-0.08,-1.00) r=1.03m +[headless_play] t= 9.30s step= 465 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-1.00) r=1.03m +[headless_play] t= 9.40s step= 470 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-1.00) r=1.03m +[headless_play] t= 9.50s step= 475 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-1.00) r=1.03m +[headless_play] t= 9.60s step= 480 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-1.00) r=1.03m +[headless_play] t= 9.70s step= 485 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-0.99) r=1.03m +[headless_play] t= 9.80s step= 490 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-0.99) r=1.03m +[headless_play] t= 9.90s step= 495 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-0.99) r=1.03m +[headless_play] t= 10.00s step= 500 trunk_z= 113.8mm grav_b=(+0.05,-0.09,-0.99) r=1.03m +[headless_play] t= 10.10s step= 505 trunk_z= 113.9mm grav_b=(+0.05,-0.09,-0.99) r=1.03m +[headless_play] t= 10.20s step= 510 trunk_z= 113.4mm grav_b=(+0.01,-0.08,-1.00) r=1.03m +[headless_play] t= 10.30s step= 515 trunk_z= 113.3mm grav_b=(+0.03,-0.08,-1.00) r=1.03m +[headless_play] t= 10.40s step= 520 trunk_z= 113.2mm grav_b=(+0.06,-0.09,-0.99) r=1.03m +[headless_play] t= 10.50s step= 525 trunk_z= 113.4mm grav_b=(+0.08,-0.09,-0.99) r=1.03m +[headless_play] t= 10.60s step= 530 trunk_z= 113.4mm grav_b=(+0.06,-0.09,-0.99) r=1.03m +[headless_play] t= 10.70s step= 535 trunk_z= 113.3mm grav_b=(+0.03,-0.09,-1.00) r=1.03m +[headless_play] t= 10.80s step= 540 trunk_z= 113.3mm grav_b=(+0.03,-0.08,-1.00) r=1.03m +[headless_play] t= 10.90s step= 545 trunk_z= 113.3mm grav_b=(+0.04,-0.09,-1.00) r=1.03m +[headless_play] t= 11.00s step= 550 trunk_z= 113.3mm grav_b=(+0.04,-0.09,-1.00) r=1.03m +[headless_play] t= 11.10s step= 555 trunk_z= 113.3mm grav_b=(+0.04,-0.09,-1.00) r=1.03m +[headless_play] t= 11.20s step= 560 trunk_z= 113.3mm grav_b=(+0.04,-0.09,-1.00) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 113.3mm grav_b=(+0.05,-0.09,-1.00) r=1.04m +[headless_play] t= 11.40s step= 570 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 11.50s step= 575 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 11.60s step= 580 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 11.70s step= 585 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 11.80s step= 590 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 11.90s step= 595 trunk_z= 113.2mm grav_b=(+0.05,-0.09,-0.99) r=1.04m +[headless_play] t= 12.00s step= 600 trunk_z= 113.0mm grav_b=(+0.05,-0.08,-1.00) r=1.04m +[headless_play] t= 12.10s step= 605 trunk_z= 111.3mm grav_b=(+0.09,+0.05,-1.00) r=1.04m +[headless_play] t= 12.20s step= 610 trunk_z= 112.3mm grav_b=(+0.11,-0.09,-0.99) r=1.04m +[headless_play] t= 12.30s step= 615 trunk_z= 112.9mm grav_b=(+0.06,-0.18,-0.98) r=1.05m +[headless_play] t= 12.40s step= 620 trunk_z= 106.9mm grav_b=(+0.06,+0.02,-1.00) r=1.07m +[headless_play] t= 12.50s step= 625 trunk_z= 104.8mm grav_b=(+0.09,-0.21,-0.97) r=1.09m +[headless_play] t= 12.60s step= 630 trunk_z= 107.7mm grav_b=(+0.12,-0.22,-0.97) r=1.11m +[headless_play] t= 12.70s step= 635 trunk_z= 108.0mm grav_b=(+0.11,-0.03,-0.99) r=1.13m +[headless_play] t= 12.80s step= 640 trunk_z= 98.1mm grav_b=(+0.07,-0.08,-0.99) r=1.16m +[headless_play] t= 12.90s step= 645 trunk_z= 89.1mm grav_b=(-0.09,-0.16,-0.98) r=1.20m +[headless_play] t= 13.00s step= 650 trunk_z= 99.9mm grav_b=(-0.03,-0.14,-0.99) r=1.24m +[headless_play] t= 13.10s step= 655 trunk_z= 97.0mm grav_b=(-0.05,-0.06,-1.00) r=1.27m +[headless_play] t= 13.20s step= 660 trunk_z= 76.1mm grav_b=(+0.11,+0.06,-0.99) r=1.31m +[headless_play] t= 13.30s step= 665 trunk_z= 67.9mm grav_b=(+0.32,-0.08,-0.94) r=1.33m +[headless_play] t= 13.40s step= 670 trunk_z= 83.6mm grav_b=(+0.35,+0.04,-0.94) r=1.38m +[headless_play] t= 13.50s step= 675 trunk_z= 49.2mm grav_b=(+0.22,-0.04,-0.98) r=1.43m +[headless_play] t= 13.60s step= 680 trunk_z= 54.4mm grav_b=(+0.28,-0.16,-0.95) r=1.48m +[headless_play] t= 13.70s step= 685 trunk_z= 47.0mm grav_b=(+0.09,-0.22,-0.97) r=1.53m +[headless_play] t= 13.80s step= 690 trunk_z= 49.8mm grav_b=(-0.07,+0.01,-1.00) r=1.58m +[headless_play] t= 13.90s step= 695 trunk_z= 50.6mm grav_b=(+0.09,-0.04,-1.00) r=1.62m +[headless_play] t= 14.00s step= 700 trunk_z= 45.8mm grav_b=(+0.13,-0.15,-0.98) r=1.66m +[headless_play] t= 14.10s step= 705 trunk_z= 39.9mm grav_b=(+0.23,+0.09,-0.97) r=1.69m +[headless_play] t= 14.20s step= 710 trunk_z= 35.1mm grav_b=(+0.33,-0.00,-0.94) r=1.72m +[headless_play] t= 14.30s step= 715 trunk_z= 13.4mm grav_b=(+0.05,-0.27,-0.96) r=1.76m +[headless_play] t= 14.40s step= 720 trunk_z= 18.7mm grav_b=(-0.11,-0.08,-0.99) r=1.80m +[headless_play] t= 14.50s step= 725 trunk_z= 29.4mm grav_b=(+0.05,-0.08,-1.00) r=1.84m +[headless_play] t= 14.60s step= 730 trunk_z= 30.8mm grav_b=(+0.14,-0.07,-0.99) r=1.87m +[headless_play] t= 14.70s step= 735 trunk_z= 20.1mm grav_b=(+0.15,+0.15,-0.98) r=1.90m +[headless_play] t= 14.80s step= 740 trunk_z= 20.9mm grav_b=(+0.11,-0.07,-0.99) r=1.93m +[headless_play] t= 14.90s step= 745 trunk_z= 15.4mm grav_b=(-0.00,-0.14,-0.99) r=1.97m +[headless_play] t= 15.00s step= 750 trunk_z= 23.9mm grav_b=(+0.03,+0.00,-1.00) r=1.99m +[headless_play] t= 15.10s step= 755 trunk_z= 26.1mm grav_b=(+0.06,+0.03,-1.00) r=2.01m +[headless_play] t= 15.20s step= 760 trunk_z= 18.4mm grav_b=(+0.07,-0.08,-0.99) r=2.04m +[headless_play] t= 15.30s step= 765 trunk_z= 15.9mm grav_b=(+0.07,+0.14,-0.99) r=2.06m +[headless_play] t= 15.40s step= 770 trunk_z= 14.6mm grav_b=(+0.00,+0.04,-1.00) r=2.08m +[headless_play] t= 15.50s step= 775 trunk_z= 8.7mm grav_b=(-0.01,-0.11,-0.99) r=2.11m +[headless_play] t= 15.60s step= 780 trunk_z= 12.7mm grav_b=(+0.05,+0.03,-1.00) r=2.13m +[headless_play] t= 15.70s step= 785 trunk_z= 22.7mm grav_b=(+0.13,+0.13,-0.98) r=2.15m +[headless_play] t= 15.80s step= 790 trunk_z= 25.7mm grav_b=(+0.13,+0.06,-0.99) r=2.18m +[headless_play] t= 15.90s step= 795 trunk_z= -2.4mm grav_b=(+0.04,+0.02,-1.00) r=2.22m +[headless_play] t= 16.00s step= 800 trunk_z= 6.1mm grav_b=(-0.09,+0.03,-1.00) r=2.24m +[headless_play] t= 16.10s step= 805 trunk_z= 5.5mm grav_b=(-0.01,+0.04,-1.00) r=2.27m +[headless_play] t= 16.20s step= 810 trunk_z= 4.0mm grav_b=(+0.15,-0.07,-0.99) r=2.29m +[headless_play] t= 16.30s step= 815 trunk_z= 1.9mm grav_b=(+0.16,+0.13,-0.98) r=2.31m +[headless_play] t= 16.40s step= 820 trunk_z= 9.4mm grav_b=(+0.27,-0.09,-0.96) r=2.34m +[headless_play] t= 16.50s step= 825 trunk_z= -15.3mm grav_b=(+0.19,-0.11,-0.98) r=2.40m +[headless_play] t= 16.60s step= 830 trunk_z= -9.6mm grav_b=(+0.00,+0.03,-1.00) r=2.43m +[headless_play] t= 16.70s step= 835 trunk_z= 0.6mm grav_b=(-0.03,-0.06,-1.00) r=2.47m +[headless_play] t= 16.80s step= 840 trunk_z= -1.3mm grav_b=(+0.06,-0.09,-0.99) r=2.51m +[headless_play] t= 16.90s step= 845 trunk_z= -2.3mm grav_b=(+0.12,+0.06,-0.99) r=2.53m +[headless_play] t= 17.00s step= 850 trunk_z= 3.1mm grav_b=(+0.18,-0.14,-0.97) r=2.54m +[headless_play] t= 17.10s step= 855 trunk_z= -20.7mm grav_b=(+0.14,-0.13,-0.98) r=2.55m +[headless_play] t= 17.20s step= 860 trunk_z= -18.3mm grav_b=(-0.01,+0.03,-1.00) r=2.54m +[headless_play] t= 17.30s step= 865 trunk_z= -3.5mm grav_b=(+0.05,-0.10,-0.99) r=2.54m +[headless_play] t= 17.40s step= 870 trunk_z= -0.8mm grav_b=(-0.00,+0.07,-1.00) r=2.53m +[headless_play] t= 17.50s step= 875 trunk_z= -3.7mm grav_b=(+0.07,-0.04,-1.00) r=2.52m +[headless_play] t= 17.60s step= 880 trunk_z= -4.1mm grav_b=(+0.04,+0.16,-0.99) r=2.50m +[headless_play] t= 17.70s step= 885 trunk_z= -4.6mm grav_b=(-0.03,+0.16,-0.99) r=2.49m +[headless_play] t= 17.80s step= 890 trunk_z= -6.0mm grav_b=(+0.01,-0.07,-1.00) r=2.49m +[headless_play] t= 17.90s step= 895 trunk_z= -1.3mm grav_b=(+0.02,+0.02,-1.00) r=2.49m +[headless_play] t= 18.00s step= 900 trunk_z= -1.6mm grav_b=(+0.08,+0.08,-0.99) r=2.48m +[headless_play] t= 18.10s step= 905 trunk_z= -4.4mm grav_b=(+0.09,-0.01,-1.00) r=2.47m +[headless_play] t= 18.20s step= 910 trunk_z= -5.3mm grav_b=(+0.03,+0.15,-0.99) r=2.45m +[headless_play] t= 18.30s step= 915 trunk_z= -5.3mm grav_b=(+0.02,-0.04,-1.00) r=2.44m +[headless_play] t= 18.40s step= 920 trunk_z= -4.1mm grav_b=(+0.05,+0.08,-1.00) r=2.43m +[headless_play] t= 18.50s step= 925 trunk_z= -4.9mm grav_b=(+0.11,+0.00,-0.99) r=2.42m +[headless_play] t= 18.60s step= 930 trunk_z= -3.8mm grav_b=(+0.11,+0.02,-0.99) r=2.41m +[headless_play] t= 18.70s step= 935 trunk_z= -4.1mm grav_b=(-0.03,+0.20,-0.98) r=2.40m +[headless_play] t= 18.80s step= 940 trunk_z= -3.5mm grav_b=(+0.01,+0.08,-1.00) r=2.39m +[headless_play] t= 18.90s step= 945 trunk_z= -5.4mm grav_b=(+0.10,+0.00,-1.00) r=2.40m +[headless_play] t= 19.00s step= 950 trunk_z= -3.8mm grav_b=(+0.14,+0.10,-0.99) r=2.40m +[headless_play] t= 19.10s step= 955 trunk_z= -4.8mm grav_b=(+0.16,-0.03,-0.99) r=2.40m +[headless_play] t= 19.20s step= 960 trunk_z= -3.5mm grav_b=(+0.02,+0.14,-0.99) r=2.39m +[headless_play] t= 19.30s step= 965 trunk_z= -4.7mm grav_b=(-0.03,+0.19,-0.98) r=2.39m +[headless_play] t= 19.40s step= 970 trunk_z= -3.7mm grav_b=(-0.01,+0.02,-1.00) r=2.38m +[headless_play] t= 19.50s step= 975 trunk_z= -3.1mm grav_b=(+0.04,+0.07,-1.00) r=2.38m +[headless_play] t= 19.60s step= 980 trunk_z= -2.7mm grav_b=(+0.10,+0.10,-0.99) r=2.37m +[headless_play] t= 19.70s step= 985 trunk_z= -1.7mm grav_b=(+0.10,+0.00,-0.99) r=2.36m +[headless_play] t= 19.80s step= 990 trunk_z= -5.5mm grav_b=(+0.04,+0.20,-0.98) r=2.35m +[headless_play] t= 19.90s step= 995 trunk_z= -0.5mm grav_b=(+0.06,+0.10,-0.99) r=2.34m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 121.6mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(+0.05,+0.00,-1.00) r=0.27m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..6b571aed90dd7842371800f1523a2ae4b88eff72 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-5.818,-17.705,+0.253) +[headless_play] t= 0.00s step= 0 trunk_z= 123.0mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 0.10s step= 5 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.35m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(+0.02,+0.00,-1.00) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.03,+0.05,-1.00) r=0.36m +[headless_play] t= 0.40s step= 20 trunk_z= 117.2mm grav_b=(+0.01,-0.05,-1.00) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 115.6mm grav_b=(-0.02,+0.11,-0.99) r=0.38m +[headless_play] t= 0.60s step= 30 trunk_z= 116.6mm grav_b=(+0.03,+0.01,-1.00) r=0.38m +[headless_play] t= 0.70s step= 35 trunk_z= 118.6mm grav_b=(+0.01,-0.08,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 113.8mm grav_b=(-0.02,+0.10,-0.99) r=0.40m +[headless_play] t= 0.90s step= 45 trunk_z= 119.2mm grav_b=(+0.02,+0.07,-1.00) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(-0.00,-0.09,-1.00) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.01,+0.05,-1.00) r=0.43m +[headless_play] t= 1.20s step= 60 trunk_z= 118.6mm grav_b=(+0.02,+0.09,-1.00) r=0.43m +[headless_play] t= 1.30s step= 65 trunk_z= 115.3mm grav_b=(-0.01,-0.11,-0.99) r=0.45m +[headless_play] t= 1.40s step= 70 trunk_z= 118.0mm grav_b=(+0.01,+0.02,-1.00) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 118.5mm grav_b=(+0.03,+0.13,-0.99) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 116.8mm grav_b=(+0.00,-0.05,-1.00) r=0.48m +[headless_play] t= 1.70s step= 85 trunk_z= 119.3mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 115.9mm grav_b=(+0.00,+0.13,-0.99) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 117.6mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 2.00s step= 100 trunk_z= 119.3mm grav_b=(+0.02,-0.06,-1.00) r=0.53m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(-0.01,+0.12,-0.99) r=0.54m +[headless_play] t= 2.20s step= 110 trunk_z= 118.1mm grav_b=(+0.02,+0.01,-1.00) r=0.55m +[headless_play] t= 2.30s step= 115 trunk_z= 118.9mm grav_b=(+0.01,-0.08,-1.00) r=0.57m +[headless_play] t= 2.40s step= 120 trunk_z= 113.1mm grav_b=(+0.02,+0.12,-0.99) r=0.58m +[headless_play] t= 2.50s step= 125 trunk_z= 120.0mm grav_b=(+0.03,+0.06,-1.00) r=0.59m +[headless_play] t= 2.60s step= 130 trunk_z= 119.3mm grav_b=(-0.04,-0.11,-0.99) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 118.7mm grav_b=(+0.04,+0.04,-1.00) r=0.62m +[headless_play] t= 2.80s step= 140 trunk_z= 118.3mm grav_b=(+0.01,+0.08,-1.00) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 116.9mm grav_b=(-0.02,-0.13,-0.99) r=0.65m +[headless_play] t= 3.00s step= 150 trunk_z= 118.9mm grav_b=(+0.04,+0.00,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 117.9mm grav_b=(+0.02,+0.13,-0.99) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 115.6mm grav_b=(-0.04,-0.09,-0.99) r=0.69m +[headless_play] t= 3.30s step= 165 trunk_z= 122.0mm grav_b=(+0.03,-0.06,-1.00) r=0.70m +[headless_play] t= 3.40s step= 170 trunk_z= 113.2mm grav_b=(-0.05,+0.13,-0.99) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 120.9mm grav_b=(-0.03,-0.02,-1.00) r=0.69m +[headless_play] t= 3.60s step= 180 trunk_z= 117.1mm grav_b=(-0.09,+0.03,-1.00) r=0.67m +[headless_play] t= 3.70s step= 185 trunk_z= 124.8mm grav_b=(-0.03,+0.13,-0.99) r=0.66m +[headless_play] t= 3.80s step= 190 trunk_z= 120.2mm grav_b=(-0.01,-0.05,-1.00) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 119.2mm grav_b=(-0.04,+0.05,-1.00) r=0.66m +[headless_play] t= 4.00s step= 200 trunk_z= 124.0mm grav_b=(-0.00,+0.08,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 116.0mm grav_b=(-0.06,-0.09,-0.99) r=0.66m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(-0.10,+0.08,-0.99) r=0.67m +[headless_play] t= 4.30s step= 215 trunk_z= 127.0mm grav_b=(-0.02,+0.08,-1.00) r=0.67m +[headless_play] t= 4.40s step= 220 trunk_z= 117.9mm grav_b=(-0.03,-0.07,-1.00) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 119.4mm grav_b=(-0.06,+0.09,-0.99) r=0.68m +[headless_play] t= 4.60s step= 230 trunk_z= 129.1mm grav_b=(-0.01,+0.14,-0.99) r=0.69m +[headless_play] t= 4.70s step= 235 trunk_z= 125.4mm grav_b=(-0.01,+0.06,-1.00) r=0.70m +[headless_play] t= 4.80s step= 240 trunk_z= 121.2mm grav_b=(-0.06,+0.01,-1.00) r=0.72m +[headless_play] t= 4.90s step= 245 trunk_z= 120.3mm grav_b=(-0.03,+0.13,-0.99) r=0.73m +[headless_play] t= 5.00s step= 250 trunk_z= 119.9mm grav_b=(-0.04,-0.05,-1.00) r=0.75m +[headless_play] t= 5.10s step= 255 trunk_z= 119.4mm grav_b=(-0.05,+0.06,-1.00) r=0.76m +[headless_play] t= 5.20s step= 260 trunk_z= 123.3mm grav_b=(+0.00,+0.10,-0.99) r=0.77m +[headless_play] t= 5.30s step= 265 trunk_z= 118.8mm grav_b=(-0.08,-0.07,-0.99) r=0.79m +[headless_play] t= 5.40s step= 270 trunk_z= 121.2mm grav_b=(-0.08,-0.03,-1.00) r=0.81m +[headless_play] t= 5.50s step= 275 trunk_z= 122.5mm grav_b=(-0.04,+0.13,-0.99) r=0.82m +[headless_play] t= 5.60s step= 280 trunk_z= 120.8mm grav_b=(-0.01,-0.02,-1.00) r=0.83m +[headless_play] t= 5.70s step= 285 trunk_z= 119.8mm grav_b=(-0.07,-0.06,-1.00) r=0.84m +[headless_play] t= 5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.07,+0.06,-1.00) r=0.85m +[headless_play] t= 5.90s step= 295 trunk_z= 116.9mm grav_b=(-0.03,+0.00,-1.00) r=0.85m +[headless_play] t= 6.00s step= 300 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.10s step= 305 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.20s step= 310 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.30s step= 315 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.40s step= 320 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.50s step= 325 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.60s step= 330 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.70s step= 335 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.80s step= 340 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 6.90s step= 345 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 7.00s step= 350 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 7.10s step= 355 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 7.20s step= 360 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(-0.02,+0.01,-1.00) r=0.85m +[headless_play] t= 7.40s step= 370 trunk_z= 118.2mm grav_b=(+0.03,+0.01,-1.00) r=0.90m +[headless_play] t= 7.50s step= 375 trunk_z= 123.2mm grav_b=(+0.13,-0.02,-0.99) r=0.96m +[headless_play] t= 7.60s step= 380 trunk_z= 104.5mm grav_b=(+0.03,-0.08,-1.00) r=1.00m +[headless_play] t= 7.70s step= 385 trunk_z= 109.5mm grav_b=(+0.00,+0.04,-1.00) r=1.04m +[headless_play] t= 7.80s step= 390 trunk_z= 118.2mm grav_b=(+0.04,-0.07,-1.00) r=1.09m +[headless_play] t= 7.90s step= 395 trunk_z= 85.3mm grav_b=(-0.10,-0.17,-0.98) r=1.15m +[headless_play] t= 8.00s step= 400 trunk_z= 81.7mm grav_b=(-0.27,-0.03,-0.96) r=1.22m +[headless_play] t= 8.10s step= 405 trunk_z= 69.3mm grav_b=(-0.11,+0.02,-0.99) r=1.29m +[headless_play] t= 8.20s step= 410 trunk_z= 51.8mm grav_b=(+0.14,-0.21,-0.97) r=1.34m +[headless_play] t= 8.30s step= 415 trunk_z= 58.1mm grav_b=(+0.12,-0.20,-0.97) r=1.39m +[headless_play] t= 8.40s step= 420 trunk_z= 68.9mm grav_b=(+0.00,-0.22,-0.98) r=1.44m +[headless_play] t= 8.50s step= 425 trunk_z= 72.5mm grav_b=(+0.00,-0.21,-0.98) r=1.49m +[headless_play] t= 8.60s step= 430 trunk_z= 67.7mm grav_b=(-0.10,-0.06,-0.99) r=1.55m +[headless_play] t= 8.70s step= 435 trunk_z= 52.2mm grav_b=(-0.17,-0.05,-0.98) r=1.59m +[headless_play] t= 8.80s step= 440 trunk_z= 46.4mm grav_b=(-0.19,-0.05,-0.98) r=1.64m +[headless_play] t= 8.90s step= 445 trunk_z= 16.6mm grav_b=(-0.13,+0.13,-0.98) r=1.67m +[headless_play] t= 9.00s step= 450 trunk_z= 10.4mm grav_b=(-0.06,-0.15,-0.99) r=1.70m +[headless_play] t= 9.10s step= 455 trunk_z= 18.7mm grav_b=(-0.23,+0.10,-0.97) r=1.74m +[headless_play] t= 9.20s step= 460 trunk_z= -9.4mm grav_b=(-0.23,+0.39,-0.89) r=1.78m +[headless_play] t= 9.30s step= 465 trunk_z= 14.0mm grav_b=(-0.14,+0.28,-0.95) r=1.82m +[headless_play] t= 9.40s step= 470 trunk_z= 17.7mm grav_b=(-0.00,-0.02,-1.00) r=1.85m +[headless_play] t= 9.50s step= 475 trunk_z= 27.2mm grav_b=(-0.05,+0.06,-1.00) r=1.87m +[headless_play] t= 9.60s step= 480 trunk_z= 24.0mm grav_b=(+0.04,+0.07,-1.00) r=1.90m +[headless_play] t= 9.70s step= 485 trunk_z= 25.2mm grav_b=(-0.03,-0.03,-1.00) r=1.93m +[headless_play] t= 9.80s step= 490 trunk_z= 23.2mm grav_b=(-0.12,+0.13,-0.98) r=1.95m +[headless_play] t= 9.90s step= 495 trunk_z= 21.0mm grav_b=(+0.04,-0.05,-1.00) r=1.97m +[headless_play] t= 10.00s step= 500 trunk_z= 21.3mm grav_b=(-0.00,+0.02,-1.00) r=1.99m +[headless_play] t= 10.10s step= 505 trunk_z= 21.0mm grav_b=(-0.03,+0.14,-0.99) r=2.02m +[headless_play] t= 10.20s step= 510 trunk_z= 14.9mm grav_b=(-0.03,+0.02,-1.00) r=2.04m +[headless_play] t= 10.30s step= 515 trunk_z= 16.5mm grav_b=(-0.05,+0.07,-1.00) r=2.05m +[headless_play] t= 10.40s step= 520 trunk_z= 15.9mm grav_b=(-0.04,+0.05,-1.00) r=2.06m +[headless_play] t= 10.50s step= 525 trunk_z= 15.1mm grav_b=(-0.01,+0.06,-1.00) r=2.07m +[headless_play] t= 10.60s step= 530 trunk_z= 15.3mm grav_b=(-0.01,+0.11,-0.99) r=2.08m +[headless_play] t= 10.70s step= 535 trunk_z= 11.8mm grav_b=(+0.01,+0.02,-1.00) r=2.08m +[headless_play] t= 10.80s step= 540 trunk_z= 12.6mm grav_b=(+0.03,+0.07,-1.00) r=2.08m +[headless_play] t= 10.90s step= 545 trunk_z= 13.1mm grav_b=(+0.04,+0.07,-1.00) r=2.09m +[headless_play] t= 11.00s step= 550 trunk_z= 13.4mm grav_b=(+0.03,+0.08,-1.00) r=2.09m +[headless_play] t= 11.10s step= 555 trunk_z= 13.4mm grav_b=(+0.01,+0.08,-1.00) r=2.09m +[headless_play] t= 11.20s step= 560 trunk_z= 13.4mm grav_b=(+0.01,+0.08,-1.00) r=2.09m +[headless_play] t= 11.30s step= 565 trunk_z= 13.4mm grav_b=(+0.02,+0.07,-1.00) r=2.09m +[headless_play] t= 11.40s step= 570 trunk_z= 13.4mm grav_b=(+0.02,+0.08,-1.00) r=2.09m +[headless_play] t= 11.50s step= 575 trunk_z= 13.2mm grav_b=(-0.01,+0.07,-1.00) r=2.09m +[headless_play] t= 11.60s step= 580 trunk_z= 13.6mm grav_b=(+0.00,+0.07,-1.00) r=2.09m +[headless_play] t= 11.70s step= 585 trunk_z= 13.3mm grav_b=(+0.03,+0.08,-1.00) r=2.09m +[headless_play] t= 11.80s step= 590 trunk_z= 13.3mm grav_b=(+0.04,+0.08,-1.00) r=2.09m +[headless_play] t= 11.90s step= 595 trunk_z= 13.4mm grav_b=(+0.04,+0.08,-1.00) r=2.09m +[headless_play] t= 12.00s step= 600 trunk_z= 13.4mm grav_b=(+0.02,+0.08,-1.00) r=2.09m +[headless_play] t= 12.10s step= 605 trunk_z= 13.4mm grav_b=(+0.01,+0.08,-1.00) r=2.09m +[headless_play] t= 12.20s step= 610 trunk_z= 13.4mm grav_b=(+0.02,+0.08,-1.00) r=2.09m +[headless_play] t= 12.30s step= 615 trunk_z= 13.3mm grav_b=(+0.04,+0.08,-1.00) r=2.09m +[headless_play] t= 12.40s step= 620 trunk_z= 13.4mm grav_b=(+0.04,+0.08,-1.00) r=2.09m +[headless_play] t= 12.50s step= 625 trunk_z= 13.3mm grav_b=(+0.07,+0.07,-0.99) r=2.09m +[headless_play] t= 12.60s step= 630 trunk_z= 14.4mm grav_b=(+0.09,+0.08,-0.99) r=2.09m +[headless_play] t= 12.70s step= 635 trunk_z= 14.7mm grav_b=(+0.05,+0.05,-1.00) r=2.09m +[headless_play] t= 12.80s step= 640 trunk_z= 13.6mm grav_b=(+0.01,+0.07,-1.00) r=2.10m +[headless_play] t= 12.90s step= 645 trunk_z= 13.1mm grav_b=(-0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 13.00s step= 650 trunk_z= 13.3mm grav_b=(-0.02,+0.08,-1.00) r=2.10m +[headless_play] t= 13.10s step= 655 trunk_z= 13.1mm grav_b=(-0.01,+0.08,-1.00) r=2.10m +[headless_play] t= 13.20s step= 660 trunk_z= 12.6mm grav_b=(+0.02,+0.08,-1.00) r=2.10m +[headless_play] t= 13.30s step= 665 trunk_z= 12.5mm grav_b=(+0.05,+0.08,-1.00) r=2.10m +[headless_play] t= 13.40s step= 670 trunk_z= 12.5mm grav_b=(+0.05,+0.08,-1.00) r=2.10m +[headless_play] t= 13.50s step= 675 trunk_z= 12.3mm grav_b=(+0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 13.60s step= 680 trunk_z= 12.2mm grav_b=(+0.01,+0.07,-1.00) r=2.10m +[headless_play] t= 13.70s step= 685 trunk_z= 12.2mm grav_b=(+0.01,+0.07,-1.00) r=2.10m +[headless_play] t= 13.80s step= 690 trunk_z= 12.1mm grav_b=(+0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 13.90s step= 695 trunk_z= 12.1mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.00s step= 700 trunk_z= 12.1mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.10s step= 705 trunk_z= 12.1mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.20s step= 710 trunk_z= 12.1mm grav_b=(+0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 14.30s step= 715 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.40s step= 720 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.50s step= 725 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.60s step= 730 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.70s step= 735 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.80s step= 740 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 14.90s step= 745 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.00s step= 750 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.10s step= 755 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.20s step= 760 trunk_z= 12.0mm grav_b=(+0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 15.30s step= 765 trunk_z= 12.0mm grav_b=(+0.02,+0.07,-1.00) r=2.10m +[headless_play] t= 15.40s step= 770 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.50s step= 775 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.60s step= 780 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.70s step= 785 trunk_z= 11.9mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.80s step= 790 trunk_z= 11.9mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 15.90s step= 795 trunk_z= 12.0mm grav_b=(+0.03,+0.07,-1.00) r=2.10m +[headless_play] t= 16.00s step= 800 trunk_z= 12.1mm grav_b=(+0.01,+0.07,-1.00) r=2.10m +[headless_play] t= 16.10s step= 805 trunk_z= 12.4mm grav_b=(+0.01,+0.07,-1.00) r=2.10m +[headless_play] t= 16.20s step= 810 trunk_z= 11.9mm grav_b=(+0.06,+0.07,-1.00) r=2.14m +[headless_play] t= 16.30s step= 815 trunk_z= 11.5mm grav_b=(+0.06,+0.07,-1.00) r=2.16m +[headless_play] t= 16.40s step= 820 trunk_z= 10.8mm grav_b=(+0.05,+0.05,-1.00) r=2.17m +[headless_play] t= 16.50s step= 825 trunk_z= 9.8mm grav_b=(+0.01,+0.05,-1.00) r=2.18m +[headless_play] t= 16.60s step= 830 trunk_z= 8.9mm grav_b=(-0.04,+0.06,-1.00) r=2.18m +[headless_play] t= 16.70s step= 835 trunk_z= 9.1mm grav_b=(-0.03,+0.06,-1.00) r=2.18m +[headless_play] t= 16.80s step= 840 trunk_z= 8.9mm grav_b=(-0.01,+0.05,-1.00) r=2.18m +[headless_play] t= 16.90s step= 845 trunk_z= 8.9mm grav_b=(+0.02,+0.05,-1.00) r=2.18m +[headless_play] t= 17.00s step= 850 trunk_z= 9.0mm grav_b=(+0.03,+0.05,-1.00) r=2.18m +[headless_play] t= 17.10s step= 855 trunk_z= 9.0mm grav_b=(+0.01,+0.05,-1.00) r=2.18m +[headless_play] t= 17.20s step= 860 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.30s step= 865 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.40s step= 870 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.50s step= 875 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.60s step= 880 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.70s step= 885 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.80s step= 890 trunk_z= 8.9mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 17.90s step= 895 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.00s step= 900 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.10s step= 905 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.20s step= 910 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.30s step= 915 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.40s step= 920 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.50s step= 925 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.60s step= 930 trunk_z= 8.9mm grav_b=(-0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.70s step= 935 trunk_z= 8.8mm grav_b=(+0.00,+0.05,-1.00) r=2.18m +[headless_play] t= 18.80s step= 940 trunk_z= 8.6mm grav_b=(+0.02,+0.05,-1.00) r=2.18m +[headless_play] t= 18.90s step= 945 trunk_z= 8.5mm grav_b=(+0.03,+0.05,-1.00) r=2.18m +[headless_play] t= 19.00s step= 950 trunk_z= 8.4mm grav_b=(+0.05,+0.05,-1.00) r=2.18m +[headless_play] t= 19.10s step= 955 trunk_z= 8.4mm grav_b=(+0.05,+0.05,-1.00) r=2.18m +[headless_play] t= 19.20s step= 960 trunk_z= 8.5mm grav_b=(+0.03,+0.05,-1.00) r=2.18m +[headless_play] t= 19.30s step= 965 trunk_z= 10.1mm grav_b=(+0.07,+0.04,-1.00) r=2.16m +[headless_play] t= 19.40s step= 970 trunk_z= 14.3mm grav_b=(+0.11,-0.00,-0.99) r=2.15m +[headless_play] t= 19.50s step= 975 trunk_z= 3.3mm grav_b=(-0.12,-0.14,-0.98) r=2.14m +[headless_play] t= 19.60s step= 980 trunk_z= 14.0mm grav_b=(-0.15,-0.04,-0.99) r=2.15m +[headless_play] t= 19.70s step= 985 trunk_z= 12.2mm grav_b=(-0.08,+0.07,-0.99) r=2.17m +[headless_play] t= 19.80s step= 990 trunk_z= 3.9mm grav_b=(-0.07,-0.03,-1.00) r=2.17m +[headless_play] t= 19.90s step= 995 trunk_z= -22.8mm grav_b=(+0.25,+0.12,-0.96) r=2.18m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.2mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.02,+0.02,-1.00) r=0.50m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..c2ae908f87858afd3bf4372de061ebd9119d5a01 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 120.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-14.181,-17.794,+0.145) +[headless_play] t= 0.00s step= 0 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.27m +[headless_play] t= 0.10s step= 5 trunk_z= 115.9mm grav_b=(-0.04,+0.01,-1.00) r=0.28m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(-0.03,-0.03,-1.00) r=0.28m +[headless_play] t= 0.30s step= 15 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 116.6mm grav_b=(-0.04,-0.00,-1.00) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 117.8mm grav_b=(-0.06,-0.07,-1.00) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.07,-0.02,-1.00) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 116.1mm grav_b=(-0.06,-0.03,-1.00) r=0.28m +[headless_play] t= 0.80s step= 40 trunk_z= 116.0mm grav_b=(-0.07,-0.10,-0.99) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 112.6mm grav_b=(-0.04,+0.05,-1.00) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 114.5mm grav_b=(-0.06,-0.01,-1.00) r=0.29m +[headless_play] t= 1.10s step= 55 trunk_z= 111.9mm grav_b=(-0.05,-0.12,-0.99) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 112.6mm grav_b=(-0.00,-0.03,-1.00) r=0.29m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(+0.01,+0.05,-1.00) r=0.30m +[headless_play] t= 1.40s step= 70 trunk_z= 116.0mm grav_b=(-0.02,-0.03,-1.00) r=0.31m +[headless_play] t= 1.50s step= 75 trunk_z= 115.8mm grav_b=(-0.05,-0.13,-0.99) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 114.4mm grav_b=(-0.01,-0.06,-1.00) r=0.33m +[headless_play] t= 1.70s step= 85 trunk_z= 115.8mm grav_b=(-0.03,+0.06,-1.00) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(-0.03,-0.03,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(-0.05,-0.13,-0.99) r=0.37m +[headless_play] t= 2.00s step= 100 trunk_z= 115.0mm grav_b=(+0.00,-0.05,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.01,+0.10,-1.00) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 118.3mm grav_b=(-0.05,-0.02,-1.00) r=0.41m +[headless_play] t= 2.30s step= 115 trunk_z= 117.3mm grav_b=(-0.07,-0.15,-0.99) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.02,-0.11,-0.99) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(-0.01,+0.07,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 120.1mm grav_b=(-0.08,+0.01,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 112.4mm grav_b=(-0.03,-0.12,-0.99) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.03,-0.02,-1.00) r=0.51m +[headless_play] t= 2.90s step= 145 trunk_z= 115.6mm grav_b=(+0.01,+0.09,-1.00) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 117.0mm grav_b=(-0.04,-0.02,-1.00) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(-0.06,-0.13,-0.99) r=0.56m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(-0.00,-0.06,-1.00) r=0.57m +[headless_play] t= 3.30s step= 165 trunk_z= 117.3mm grav_b=(-0.05,+0.08,-1.00) r=0.58m +[headless_play] t= 3.40s step= 170 trunk_z= 117.8mm grav_b=(-0.04,-0.01,-1.00) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 113.8mm grav_b=(-0.01,-0.12,-0.99) r=0.62m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.01,-0.02,-1.00) r=0.63m +[headless_play] t= 3.70s step= 185 trunk_z= 118.1mm grav_b=(-0.06,+0.07,-1.00) r=0.65m +[headless_play] t= 3.80s step= 190 trunk_z= 117.2mm grav_b=(-0.03,-0.02,-1.00) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(-0.03,-0.12,-0.99) r=0.68m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(+0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(-0.05,+0.08,-1.00) r=0.71m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.02,-0.03,-1.00) r=0.73m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.03,-0.12,-0.99) r=0.74m +[headless_play] t= 4.40s step= 220 trunk_z= 111.5mm grav_b=(+0.04,+0.02,-1.00) r=0.76m +[headless_play] t= 4.50s step= 225 trunk_z= 116.9mm grav_b=(-0.04,+0.05,-1.00) r=0.77m +[headless_play] t= 4.60s step= 230 trunk_z= 97.0mm grav_b=(-0.12,-0.12,-0.99) r=0.80m +[headless_play] t= 4.70s step= 235 trunk_z= 103.0mm grav_b=(-0.04,-0.16,-0.99) r=0.83m +[headless_play] t= 4.80s step= 240 trunk_z= 97.1mm grav_b=(-0.07,-0.04,-1.00) r=0.86m +[headless_play] t= 4.90s step= 245 trunk_z= 96.5mm grav_b=(-0.17,+0.01,-0.99) r=0.87m +[headless_play] t= 5.00s step= 250 trunk_z= 87.8mm grav_b=(-0.14,-0.15,-0.98) r=0.87m +[headless_play] t= 5.10s step= 255 trunk_z= 89.4mm grav_b=(-0.02,+0.02,-1.00) r=0.87m +[headless_play] t= 5.20s step= 260 trunk_z= 83.5mm grav_b=(+0.06,+0.17,-0.98) r=0.86m +[headless_play] t= 5.30s step= 265 trunk_z= 89.2mm grav_b=(-0.09,-0.01,-1.00) r=0.86m +[headless_play] t= 5.40s step= 270 trunk_z= 95.9mm grav_b=(-0.07,-0.15,-0.99) r=0.85m +[headless_play] t= 5.50s step= 275 trunk_z= 98.7mm grav_b=(-0.07,-0.10,-0.99) r=0.86m +[headless_play] t= 5.60s step= 280 trunk_z= 93.7mm grav_b=(-0.08,+0.03,-1.00) r=0.88m +[headless_play] t= 5.70s step= 285 trunk_z= 94.3mm grav_b=(-0.07,-0.01,-1.00) r=0.89m +[headless_play] t= 5.80s step= 290 trunk_z= 90.2mm grav_b=(-0.04,-0.10,-0.99) r=0.89m +[headless_play] t= 5.90s step= 295 trunk_z= 87.3mm grav_b=(+0.01,+0.07,-1.00) r=0.90m +[headless_play] t= 6.00s step= 300 trunk_z= 89.6mm grav_b=(-0.01,+0.00,-1.00) r=0.91m +[headless_play] t= 6.10s step= 305 trunk_z= 89.0mm grav_b=(-0.04,-0.10,-0.99) r=0.92m +[headless_play] t= 6.20s step= 310 trunk_z= 85.3mm grav_b=(-0.05,+0.09,-0.99) r=0.93m +[headless_play] t= 6.30s step= 315 trunk_z= 91.8mm grav_b=(-0.05,+0.05,-1.00) r=0.94m +[headless_play] t= 6.40s step= 320 trunk_z= 87.1mm grav_b=(-0.05,-0.13,-0.99) r=0.94m +[headless_play] t= 6.50s step= 325 trunk_z= 89.3mm grav_b=(+0.01,-0.07,-1.00) r=0.95m +[headless_play] t= 6.60s step= 330 trunk_z= 88.2mm grav_b=(-0.05,+0.05,-1.00) r=0.96m +[headless_play] t= 6.70s step= 335 trunk_z= 91.0mm grav_b=(-0.07,-0.06,-1.00) r=0.97m +[headless_play] t= 6.80s step= 340 trunk_z= 90.2mm grav_b=(-0.02,-0.08,-1.00) r=0.98m +[headless_play] t= 6.90s step= 345 trunk_z= 85.3mm grav_b=(+0.04,-0.02,-1.00) r=1.00m +[headless_play] t= 7.00s step= 350 trunk_z= 89.2mm grav_b=(-0.02,+0.04,-1.00) r=1.01m +[headless_play] t= 7.10s step= 355 trunk_z= 89.1mm grav_b=(-0.01,-0.05,-1.00) r=1.03m +[headless_play] t= 7.20s step= 360 trunk_z= 91.3mm grav_b=(-0.02,-0.14,-0.99) r=1.05m +[headless_play] t= 7.30s step= 365 trunk_z= 88.8mm grav_b=(+0.02,-0.08,-1.00) r=1.06m +[headless_play] t= 7.40s step= 370 trunk_z= 88.0mm grav_b=(-0.06,+0.04,-1.00) r=1.08m +[headless_play] t= 7.50s step= 375 trunk_z= 93.0mm grav_b=(-0.07,+0.00,-1.00) r=1.09m +[headless_play] t= 7.60s step= 380 trunk_z= 86.8mm grav_b=(-0.02,-0.11,-0.99) r=1.11m +[headless_play] t= 7.70s step= 385 trunk_z= 87.7mm grav_b=(+0.03,-0.04,-1.00) r=1.13m +[headless_play] t= 7.80s step= 390 trunk_z= 87.0mm grav_b=(-0.03,+0.03,-1.00) r=1.15m +[headless_play] t= 7.90s step= 395 trunk_z= 92.3mm grav_b=(-0.04,+0.04,-1.00) r=1.16m +[headless_play] t= 8.00s step= 400 trunk_z= 87.0mm grav_b=(+0.03,-0.05,-1.00) r=1.18m +[headless_play] t= 8.10s step= 405 trunk_z= 93.3mm grav_b=(+0.01,-0.11,-0.99) r=1.20m +[headless_play] t= 8.20s step= 410 trunk_z= 90.7mm grav_b=(-0.03,-0.04,-1.00) r=1.20m +[headless_play] t= 8.30s step= 415 trunk_z= 92.6mm grav_b=(-0.05,+0.04,-1.00) r=1.21m +[headless_play] t= 8.40s step= 420 trunk_z= 94.3mm grav_b=(-0.06,+0.00,-1.00) r=1.22m +[headless_play] t= 8.50s step= 425 trunk_z= 88.8mm grav_b=(-0.05,-0.14,-0.99) r=1.23m +[headless_play] t= 8.60s step= 430 trunk_z= 89.9mm grav_b=(+0.03,-0.09,-1.00) r=1.25m +[headless_play] t= 8.70s step= 435 trunk_z= 86.0mm grav_b=(-0.01,-0.01,-1.00) r=1.27m +[headless_play] t= 8.80s step= 440 trunk_z= 92.0mm grav_b=(-0.03,-0.01,-1.00) r=1.29m +[headless_play] t= 8.90s step= 445 trunk_z= 87.1mm grav_b=(-0.03,-0.15,-0.99) r=1.32m +[headless_play] t= 9.00s step= 450 trunk_z= 89.1mm grav_b=(+0.05,-0.09,-1.00) r=1.33m +[headless_play] t= 9.10s step= 455 trunk_z= 86.5mm grav_b=(-0.01,+0.16,-0.99) r=1.36m +[headless_play] t= 9.20s step= 460 trunk_z= 102.7mm grav_b=(-0.03,+0.21,-0.98) r=1.38m +[headless_play] t= 9.30s step= 465 trunk_z= 100.2mm grav_b=(+0.04,+0.06,-1.00) r=1.41m +[headless_play] t= 9.40s step= 470 trunk_z= 99.3mm grav_b=(-0.09,-0.03,-1.00) r=1.43m +[headless_play] t= 9.50s step= 475 trunk_z= 102.4mm grav_b=(-0.15,+0.00,-0.99) r=1.46m +[headless_play] t= 9.60s step= 480 trunk_z= 94.4mm grav_b=(-0.17,+0.04,-0.99) r=1.49m +[headless_play] t= 9.70s step= 485 trunk_z= 92.6mm grav_b=(-0.11,-0.06,-0.99) r=1.51m +[headless_play] t= 9.80s step= 490 trunk_z= 90.8mm grav_b=(+0.01,+0.02,-1.00) r=1.52m +[headless_play] t= 9.90s step= 495 trunk_z= 92.5mm grav_b=(-0.02,+0.02,-1.00) r=1.53m +[headless_play] t= 10.00s step= 500 trunk_z= 91.4mm grav_b=(-0.04,-0.07,-1.00) r=1.55m +[headless_play] t= 10.10s step= 505 trunk_z= 89.4mm grav_b=(-0.05,+0.05,-1.00) r=1.57m +[headless_play] t= 10.20s step= 510 trunk_z= 91.7mm grav_b=(-0.06,+0.03,-1.00) r=1.58m +[headless_play] t= 10.30s step= 515 trunk_z= 88.0mm grav_b=(-0.03,-0.09,-1.00) r=1.60m +[headless_play] t= 10.40s step= 520 trunk_z= 89.2mm grav_b=(+0.00,-0.03,-1.00) r=1.61m +[headless_play] t= 10.50s step= 525 trunk_z= 90.1mm grav_b=(-0.06,+0.09,-0.99) r=1.63m +[headless_play] t= 10.60s step= 530 trunk_z= 92.8mm grav_b=(-0.07,+0.01,-1.00) r=1.64m +[headless_play] t= 10.70s step= 535 trunk_z= 91.2mm grav_b=(-0.02,-0.07,-1.00) r=1.66m +[headless_play] t= 10.80s step= 540 trunk_z= 88.8mm grav_b=(+0.02,-0.01,-1.00) r=1.68m +[headless_play] t= 10.90s step= 545 trunk_z= 92.0mm grav_b=(-0.04,+0.05,-1.00) r=1.70m +[headless_play] t= 11.00s step= 550 trunk_z= 91.2mm grav_b=(-0.08,-0.06,-0.99) r=1.72m +[headless_play] t= 11.10s step= 555 trunk_z= 91.1mm grav_b=(-0.03,-0.05,-1.00) r=1.74m +[headless_play] t= 11.20s step= 560 trunk_z= 85.8mm grav_b=(+0.03,+0.03,-1.00) r=1.75m +[headless_play] t= 11.30s step= 565 trunk_z= 88.9mm grav_b=(+0.01,+0.01,-1.00) r=1.75m +[headless_play] t= 11.40s step= 570 trunk_z= 89.6mm grav_b=(+0.03,+0.02,-1.00) r=1.75m +[headless_play] t= 11.50s step= 575 trunk_z= 90.4mm grav_b=(+0.01,+0.02,-1.00) r=1.75m +[headless_play] t= 11.60s step= 580 trunk_z= 91.1mm grav_b=(-0.03,+0.01,-1.00) r=1.75m +[headless_play] t= 11.70s step= 585 trunk_z= 91.3mm grav_b=(-0.04,+0.01,-1.00) r=1.75m +[headless_play] t= 11.80s step= 590 trunk_z= 91.5mm grav_b=(-0.04,+0.01,-1.00) r=1.75m +[headless_play] t= 11.90s step= 595 trunk_z= 91.5mm grav_b=(-0.03,+0.01,-1.00) r=1.75m +[headless_play] t= 12.00s step= 600 trunk_z= 91.5mm grav_b=(-0.02,+0.01,-1.00) r=1.75m +[headless_play] t= 12.10s step= 605 trunk_z= 91.7mm grav_b=(-0.03,+0.01,-1.00) r=1.74m +[headless_play] t= 12.20s step= 610 trunk_z= 92.5mm grav_b=(-0.12,+0.00,-0.99) r=1.73m +[headless_play] t= 12.30s step= 615 trunk_z= 93.1mm grav_b=(-0.14,+0.02,-0.99) r=1.72m +[headless_play] t= 12.40s step= 620 trunk_z= 77.1mm grav_b=(-0.19,+0.12,-0.97) r=1.71m +[headless_play] t= 12.50s step= 625 trunk_z= 73.8mm grav_b=(-0.15,+0.00,-0.99) r=1.70m +[headless_play] t= 12.60s step= 630 trunk_z= 74.2mm grav_b=(-0.01,-0.08,-1.00) r=1.69m +[headless_play] t= 12.70s step= 635 trunk_z= 82.6mm grav_b=(-0.02,+0.02,-1.00) r=1.69m +[headless_play] t= 12.80s step= 640 trunk_z= 87.7mm grav_b=(+0.01,+0.02,-1.00) r=1.68m +[headless_play] t= 12.90s step= 645 trunk_z= 89.0mm grav_b=(+0.02,+0.01,-1.00) r=1.68m +[headless_play] t= 13.00s step= 650 trunk_z= 90.1mm grav_b=(+0.01,+0.01,-1.00) r=1.68m +[headless_play] t= 13.10s step= 655 trunk_z= 90.5mm grav_b=(-0.02,+0.01,-1.00) r=1.68m +[headless_play] t= 13.20s step= 660 trunk_z= 90.7mm grav_b=(-0.03,+0.01,-1.00) r=1.68m +[headless_play] t= 13.30s step= 665 trunk_z= 90.8mm grav_b=(-0.02,+0.01,-1.00) r=1.68m +[headless_play] t= 13.40s step= 670 trunk_z= 90.9mm grav_b=(-0.02,+0.01,-1.00) r=1.68m +[headless_play] t= 13.50s step= 675 trunk_z= 90.9mm grav_b=(-0.02,+0.01,-1.00) r=1.68m +[headless_play] t= 13.60s step= 680 trunk_z= 90.8mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 13.70s step= 685 trunk_z= 91.0mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 13.80s step= 690 trunk_z= 91.0mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 13.90s step= 695 trunk_z= 91.1mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.00s step= 700 trunk_z= 91.1mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.10s step= 705 trunk_z= 91.1mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.20s step= 710 trunk_z= 91.1mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.30s step= 715 trunk_z= 91.2mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.40s step= 720 trunk_z= 91.1mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.50s step= 725 trunk_z= 90.9mm grav_b=(-0.02,+0.00,-1.00) r=1.68m +[headless_play] t= 14.60s step= 730 trunk_z= 91.5mm grav_b=(-0.04,-0.00,-1.00) r=1.68m +[headless_play] t= 14.70s step= 735 trunk_z= 91.6mm grav_b=(-0.03,-0.00,-1.00) r=1.68m +[headless_play] t= 14.80s step= 740 trunk_z= 91.9mm grav_b=(-0.03,-0.01,-1.00) r=1.67m +[headless_play] t= 14.90s step= 745 trunk_z= 92.1mm grav_b=(-0.04,-0.01,-1.00) r=1.67m +[headless_play] t= 15.00s step= 750 trunk_z= 92.2mm grav_b=(-0.04,-0.01,-1.00) r=1.67m +[headless_play] t= 15.10s step= 755 trunk_z= 92.3mm grav_b=(-0.04,-0.01,-1.00) r=1.67m +[headless_play] t= 15.20s step= 760 trunk_z= 92.4mm grav_b=(-0.04,-0.01,-1.00) r=1.67m +[headless_play] t= 15.30s step= 765 trunk_z= 92.5mm grav_b=(-0.04,-0.01,-1.00) r=1.67m +[headless_play] t= 15.40s step= 770 trunk_z= 92.7mm grav_b=(-0.03,-0.02,-1.00) r=1.68m +[headless_play] t= 15.50s step= 775 trunk_z= 93.0mm grav_b=(-0.02,-0.03,-1.00) r=1.68m +[headless_play] t= 15.60s step= 780 trunk_z= 92.9mm grav_b=(-0.04,-0.02,-1.00) r=1.68m +[headless_play] t= 15.70s step= 785 trunk_z= 92.8mm grav_b=(-0.04,-0.02,-1.00) r=1.68m +[headless_play] t= 15.80s step= 790 trunk_z= 92.3mm grav_b=(-0.04,-0.02,-1.00) r=1.68m +[headless_play] t= 15.90s step= 795 trunk_z= 90.9mm grav_b=(-0.03,+0.03,-1.00) r=1.68m +[headless_play] t= 16.00s step= 800 trunk_z= 90.2mm grav_b=(-0.04,-0.04,-1.00) r=1.68m +[headless_play] t= 16.10s step= 805 trunk_z= 91.1mm grav_b=(-0.05,-0.03,-1.00) r=1.69m +[headless_play] t= 16.20s step= 810 trunk_z= 88.1mm grav_b=(-0.06,+0.11,-0.99) r=1.70m +[headless_play] t= 16.30s step= 815 trunk_z= 89.0mm grav_b=(-0.07,+0.03,-1.00) r=1.70m +[headless_play] t= 16.40s step= 820 trunk_z= 85.2mm grav_b=(-0.02,-0.07,-1.00) r=1.71m +[headless_play] t= 16.50s step= 825 trunk_z= 85.1mm grav_b=(+0.01,+0.02,-1.00) r=1.72m +[headless_play] t= 16.60s step= 830 trunk_z= 85.6mm grav_b=(-0.02,+0.07,-1.00) r=1.72m +[headless_play] t= 16.70s step= 835 trunk_z= 90.7mm grav_b=(-0.03,+0.03,-1.00) r=1.73m +[headless_play] t= 16.80s step= 840 trunk_z= 87.8mm grav_b=(-0.04,-0.13,-0.99) r=1.74m +[headless_play] t= 16.90s step= 845 trunk_z= 90.2mm grav_b=(-0.01,-0.06,-1.00) r=1.75m +[headless_play] t= 17.00s step= 850 trunk_z= 83.5mm grav_b=(-0.00,+0.03,-1.00) r=1.75m +[headless_play] t= 17.10s step= 855 trunk_z= 91.2mm grav_b=(-0.03,+0.02,-1.00) r=1.76m +[headless_play] t= 17.20s step= 860 trunk_z= 88.1mm grav_b=(-0.05,-0.09,-0.99) r=1.76m +[headless_play] t= 17.30s step= 865 trunk_z= 88.3mm grav_b=(+0.01,-0.03,-1.00) r=1.77m +[headless_play] t= 17.40s step= 870 trunk_z= 85.7mm grav_b=(+0.02,+0.01,-1.00) r=1.76m +[headless_play] t= 17.50s step= 875 trunk_z= 91.8mm grav_b=(-0.04,+0.05,-1.00) r=1.76m +[headless_play] t= 17.60s step= 880 trunk_z= 89.9mm grav_b=(-0.03,-0.03,-1.00) r=1.76m +[headless_play] t= 17.70s step= 885 trunk_z= 91.0mm grav_b=(-0.02,-0.07,-1.00) r=1.77m +[headless_play] t= 17.80s step= 890 trunk_z= 87.5mm grav_b=(+0.02,-0.03,-1.00) r=1.77m +[headless_play] t= 17.90s step= 895 trunk_z= 89.2mm grav_b=(-0.01,+0.05,-1.00) r=1.76m +[headless_play] t= 18.00s step= 900 trunk_z= 88.9mm grav_b=(-0.05,-0.10,-0.99) r=1.78m +[headless_play] t= 18.10s step= 905 trunk_z= 95.8mm grav_b=(-0.01,-0.17,-0.98) r=1.81m +[headless_play] t= 18.20s step= 910 trunk_z= 93.3mm grav_b=(-0.03,-0.02,-1.00) r=1.82m +[headless_play] t= 18.30s step= 915 trunk_z= 97.0mm grav_b=(-0.06,+0.04,-1.00) r=1.84m +[headless_play] t= 18.40s step= 920 trunk_z= 93.7mm grav_b=(-0.01,-0.13,-0.99) r=1.87m +[headless_play] t= 18.50s step= 925 trunk_z= 101.8mm grav_b=(-0.06,-0.01,-1.00) r=1.89m +[headless_play] t= 18.60s step= 930 trunk_z= 74.2mm grav_b=(-0.29,+0.19,-0.94) r=1.92m +[headless_play] t= 18.70s step= 935 trunk_z= 75.0mm grav_b=(-0.48,+0.10,-0.87) r=1.95m +[headless_play] t= 18.80s step= 940 trunk_z= 66.0mm grav_b=(-0.49,+0.27,-0.83) r=1.97m +[headless_play] t= 18.90s step= 945 trunk_z= 31.7mm grav_b=(-0.24,+0.88,-0.41) r=1.96m +[headless_play] RESET at t= 18.92s step= 946 (env termination, not a recovery) +[headless_play] t= 19.00s step= 950 trunk_z= 115.2mm grav_b=(-0.04,-0.01,-1.00) r=0.43m +[headless_play] t= 19.10s step= 955 trunk_z= 117.2mm grav_b=(-0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 19.20s step= 960 trunk_z= 117.1mm grav_b=(-0.04,-0.02,-1.00) r=0.43m +[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(-0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 117.8mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 19.60s step= 980 trunk_z= 118.0mm grav_b=(-0.07,-0.04,-1.00) r=0.43m +[headless_play] t= 19.70s step= 985 trunk_z= 118.2mm grav_b=(-0.06,-0.04,-1.00) r=0.43m +[headless_play] t= 19.80s step= 990 trunk_z= 118.1mm grav_b=(-0.07,-0.03,-1.00) r=0.43m +[headless_play] t= 19.90s step= 995 trunk_z= 117.9mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] t= 20.00s step=1000 trunk_z= 118.0mm grav_b=(-0.05,-0.04,-1.00) r=0.43m +[headless_play] t= 20.10s step=1005 trunk_z= 117.8mm grav_b=(-0.06,-0.03,-1.00) r=0.43m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..3a5058a629a39280b62f3f3c2f27029ffcc5fb09 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/mxc-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.596,-17.852,+0.154) +[headless_play] t= 0.00s step= 0 trunk_z= 126.3mm grav_b=(-0.01,-0.00,-1.00) r=0.43m +[headless_play] t= 0.10s step= 5 trunk_z= 115.6mm grav_b=(+0.02,+0.07,-1.00) r=0.42m +[headless_play] t= 0.20s step= 10 trunk_z= 121.0mm grav_b=(+0.01,+0.07,-1.00) r=0.42m +[headless_play] t= 0.30s step= 15 trunk_z= 119.1mm grav_b=(+0.00,-0.08,-1.00) r=0.42m +[headless_play] t= 0.40s step= 20 trunk_z= 124.3mm grav_b=(-0.02,-0.05,-1.00) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 119.7mm grav_b=(-0.01,+0.13,-0.99) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 125.2mm grav_b=(+0.04,+0.07,-1.00) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 117.2mm grav_b=(-0.00,-0.05,-1.00) r=0.39m +[headless_play] t= 0.80s step= 40 trunk_z= 117.3mm grav_b=(-0.05,+0.13,-0.99) r=0.38m +[headless_play] t= 0.90s step= 45 trunk_z= 126.4mm grav_b=(+0.04,+0.14,-0.99) r=0.37m +[headless_play] t= 1.00s step= 50 trunk_z= 121.5mm grav_b=(+0.03,+0.02,-1.00) r=0.38m +[headless_play] t= 1.10s step= 55 trunk_z= 123.4mm grav_b=(-0.03,+0.03,-1.00) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 121.1mm grav_b=(+0.05,+0.14,-0.99) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 121.4mm grav_b=(-0.01,-0.00,-1.00) r=0.38m +[headless_play] t= 1.40s step= 70 trunk_z= 119.1mm grav_b=(-0.06,-0.02,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 120.9mm grav_b=(+0.00,+0.11,-0.99) r=0.38m +[headless_play] t= 1.60s step= 80 trunk_z= 120.4mm grav_b=(+0.03,+0.04,-1.00) r=0.38m +[headless_play] t= 1.70s step= 85 trunk_z= 120.0mm grav_b=(-0.02,-0.01,-1.00) r=0.39m +[headless_play] t= 1.80s step= 90 trunk_z= 118.3mm grav_b=(+0.00,+0.11,-0.99) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 117.5mm grav_b=(+0.00,-0.03,-1.00) r=0.41m +[headless_play] t= 2.00s step= 100 trunk_z= 121.3mm grav_b=(-0.03,-0.02,-1.00) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(+0.01,+0.10,-0.99) r=0.42m +[headless_play] t= 2.20s step= 110 trunk_z= 118.4mm grav_b=(-0.02,-0.05,-1.00) r=0.43m +[headless_play] t= 2.30s step= 115 trunk_z= 120.4mm grav_b=(-0.03,+0.01,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(+0.03,+0.09,-1.00) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 117.7mm grav_b=(-0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 2.60s step= 130 trunk_z= 118.9mm grav_b=(-0.05,+0.03,-1.00) r=0.45m +[headless_play] t= 2.70s step= 135 trunk_z= 118.5mm grav_b=(+0.02,+0.01,-1.00) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 115.6mm grav_b=(-0.06,-0.13,-0.99) r=0.47m +[headless_play] t= 2.90s step= 145 trunk_z= 120.5mm grav_b=(-0.09,+0.00,-1.00) r=0.48m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.05,+0.18,-0.98) r=0.48m +[headless_play] t= 3.10s step= 155 trunk_z= 113.0mm grav_b=(+0.06,+0.02,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 111.4mm grav_b=(+0.03,-0.09,-1.00) r=0.51m +[headless_play] t= 3.30s step= 165 trunk_z= 114.2mm grav_b=(+0.00,+0.07,-1.00) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 115.6mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 104.6mm grav_b=(+0.09,-0.12,-0.99) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 112.4mm grav_b=(+0.02,+0.04,-1.00) r=0.55m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(+0.03,+0.03,-1.00) r=0.56m +[headless_play] t= 3.80s step= 190 trunk_z= 106.7mm grav_b=(+0.06,-0.12,-0.99) r=0.58m +[headless_play] t= 3.90s step= 195 trunk_z= 111.7mm grav_b=(+0.04,+0.06,-1.00) r=0.59m +[headless_play] t= 4.00s step= 200 trunk_z= 113.7mm grav_b=(+0.05,+0.01,-1.00) r=0.60m +[headless_play] t= 4.10s step= 205 trunk_z= 108.6mm grav_b=(+0.04,-0.11,-0.99) r=0.62m +[headless_play] t= 4.20s step= 210 trunk_z= 112.5mm grav_b=(+0.04,-0.01,-1.00) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(+0.04,+0.03,-1.00) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.04,-0.04,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 110.4mm grav_b=(+0.02,-0.09,-1.00) r=0.68m +[headless_play] t= 4.60s step= 230 trunk_z= 111.9mm grav_b=(+0.05,+0.02,-1.00) r=0.69m +[headless_play] t= 4.70s step= 235 trunk_z= 114.8mm grav_b=(+0.07,+0.04,-1.00) r=0.70m +[headless_play] t= 4.80s step= 240 trunk_z= 113.2mm grav_b=(+0.06,-0.03,-1.00) r=0.72m +[headless_play] t= 4.90s step= 245 trunk_z= 110.4mm grav_b=(+0.02,-0.08,-1.00) r=0.74m +[headless_play] t= 5.00s step= 250 trunk_z= 112.6mm grav_b=(+0.03,+0.04,-1.00) r=0.76m +[headless_play] t= 5.10s step= 255 trunk_z= 115.2mm grav_b=(+0.06,+0.04,-1.00) r=0.77m +[headless_play] t= 5.20s step= 260 trunk_z= 112.1mm grav_b=(+0.06,-0.05,-1.00) r=0.79m +[headless_play] t= 5.30s step= 265 trunk_z= 111.4mm grav_b=(+0.04,-0.07,-1.00) r=0.81m +[headless_play] t= 5.40s step= 270 trunk_z= 111.7mm grav_b=(+0.04,+0.07,-1.00) r=0.82m +[headless_play] t= 5.50s step= 275 trunk_z= 116.4mm grav_b=(+0.04,+0.04,-1.00) r=0.83m +[headless_play] t= 5.60s step= 280 trunk_z= 113.9mm grav_b=(+0.06,-0.00,-1.00) r=0.85m +[headless_play] t= 5.70s step= 285 trunk_z= 110.5mm grav_b=(+0.04,-0.09,-1.00) r=0.86m +[headless_play] t= 5.80s step= 290 trunk_z= 113.9mm grav_b=(+0.05,+0.03,-1.00) r=0.87m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.05,+0.06,-1.00) r=0.88m +[headless_play] t= 6.00s step= 300 trunk_z= 104.5mm grav_b=(+0.08,-0.20,-0.98) r=0.89m +[headless_play] t= 6.10s step= 305 trunk_z= 113.7mm grav_b=(+0.03,-0.04,-1.00) r=0.89m +[headless_play] t= 6.20s step= 310 trunk_z= 116.0mm grav_b=(+0.04,+0.02,-1.00) r=0.91m +[headless_play] t= 6.30s step= 315 trunk_z= 109.1mm grav_b=(+0.06,-0.19,-0.98) r=0.92m +[headless_play] t= 6.40s step= 320 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) r=0.93m +[headless_play] t= 6.50s step= 325 trunk_z= 115.3mm grav_b=(-0.01,+0.04,-1.00) r=0.94m +[headless_play] t= 6.60s step= 330 trunk_z= 111.5mm grav_b=(+0.02,-0.11,-0.99) r=0.95m +[headless_play] t= 6.70s step= 335 trunk_z= 111.7mm grav_b=(+0.03,+0.00,-1.00) r=0.96m +[headless_play] t= 6.80s step= 340 trunk_z= 115.4mm grav_b=(+0.03,+0.04,-1.00) r=0.97m +[headless_play] t= 6.90s step= 345 trunk_z= 115.4mm grav_b=(-0.04,-0.09,-1.00) r=0.97m +[headless_play] t= 7.00s step= 350 trunk_z= 119.0mm grav_b=(-0.02,-0.05,-1.00) r=0.99m +[headless_play] t= 7.10s step= 355 trunk_z= 119.2mm grav_b=(+0.02,+0.12,-0.99) r=1.00m +[headless_play] t= 7.20s step= 360 trunk_z= 120.7mm grav_b=(-0.00,+0.02,-1.00) r=1.01m +[headless_play] t= 7.30s step= 365 trunk_z= 104.3mm grav_b=(-0.08,-0.21,-0.97) r=1.03m +[headless_play] t= 7.40s step= 370 trunk_z= 107.4mm grav_b=(-0.09,-0.23,-0.97) r=1.04m +[headless_play] t= 7.50s step= 375 trunk_z= 99.4mm grav_b=(-0.02,+0.04,-1.00) r=1.05m +[headless_play] t= 7.60s step= 380 trunk_z= 99.4mm grav_b=(-0.01,+0.09,-1.00) r=1.07m +[headless_play] t= 7.70s step= 385 trunk_z= 92.5mm grav_b=(-0.02,-0.03,-1.00) r=1.09m +[headless_play] t= 7.80s step= 390 trunk_z= 95.1mm grav_b=(+0.00,+0.05,-1.00) r=1.11m +[headless_play] t= 7.90s step= 395 trunk_z= 95.1mm grav_b=(+0.10,+0.08,-0.99) r=1.12m +[headless_play] t= 8.00s step= 400 trunk_z= 86.5mm grav_b=(-0.09,-0.08,-0.99) r=1.15m +[headless_play] t= 8.10s step= 405 trunk_z= 91.2mm grav_b=(-0.08,+0.04,-1.00) r=1.17m +[headless_play] t= 8.20s step= 410 trunk_z= 94.7mm grav_b=(+0.07,+0.12,-0.99) r=1.20m +[headless_play] t= 8.30s step= 415 trunk_z= 91.5mm grav_b=(-0.01,-0.03,-1.00) r=1.21m +[headless_play] t= 8.40s step= 420 trunk_z= 91.6mm grav_b=(-0.06,-0.01,-1.00) r=1.22m +[headless_play] t= 8.50s step= 425 trunk_z= 95.3mm grav_b=(+0.04,+0.13,-0.99) r=1.24m +[headless_play] t= 8.60s step= 430 trunk_z= 97.0mm grav_b=(-0.02,+0.02,-1.00) r=1.26m +[headless_play] t= 8.70s step= 435 trunk_z= 91.6mm grav_b=(-0.06,-0.01,-1.00) r=1.28m +[headless_play] t= 8.80s step= 440 trunk_z= 92.4mm grav_b=(+0.04,+0.14,-0.99) r=1.30m +[headless_play] t= 8.90s step= 445 trunk_z= 97.4mm grav_b=(+0.01,+0.02,-1.00) r=1.31m +[headless_play] t= 9.00s step= 450 trunk_z= 90.4mm grav_b=(-0.07,-0.05,-1.00) r=1.34m +[headless_play] t= 9.10s step= 455 trunk_z= 91.9mm grav_b=(-0.02,+0.13,-0.99) r=1.36m +[headless_play] t= 9.20s step= 460 trunk_z= 100.9mm grav_b=(+0.04,+0.09,-1.00) r=1.38m +[headless_play] t= 9.30s step= 465 trunk_z= 89.9mm grav_b=(-0.03,-0.05,-1.00) r=1.40m +[headless_play] t= 9.40s step= 470 trunk_z= 91.5mm grav_b=(-0.02,+0.10,-0.99) r=1.42m +[headless_play] t= 9.50s step= 475 trunk_z= 96.8mm grav_b=(+0.06,+0.05,-1.00) r=1.44m +[headless_play] t= 9.60s step= 480 trunk_z= 85.4mm grav_b=(-0.09,-0.09,-0.99) r=1.46m +[headless_play] t= 9.70s step= 485 trunk_z= 91.4mm grav_b=(-0.07,+0.07,-0.99) r=1.49m +[headless_play] t= 9.80s step= 490 trunk_z= 97.0mm grav_b=(+0.07,+0.13,-0.99) r=1.51m +[headless_play] t= 9.90s step= 495 trunk_z= 93.7mm grav_b=(-0.00,-0.00,-1.00) r=1.52m +[headless_play] t= 10.00s step= 500 trunk_z= 93.4mm grav_b=(-0.02,+0.01,-1.00) r=1.54m +[headless_play] t= 10.10s step= 505 trunk_z= 94.2mm grav_b=(+0.09,+0.11,-0.99) r=1.56m +[headless_play] t= 10.20s step= 510 trunk_z= 83.2mm grav_b=(-0.04,-0.16,-0.99) r=1.61m +[headless_play] t= 10.30s step= 515 trunk_z= 84.1mm grav_b=(-0.09,-0.08,-0.99) r=1.65m +[headless_play] t= 10.40s step= 520 trunk_z= 91.1mm grav_b=(-0.00,+0.14,-0.99) r=1.69m +[headless_play] t= 10.50s step= 525 trunk_z= 96.5mm grav_b=(+0.02,+0.03,-1.00) r=1.71m +[headless_play] t= 10.60s step= 530 trunk_z= 96.7mm grav_b=(-0.02,-0.03,-1.00) r=1.74m +[headless_play] t= 10.70s step= 535 trunk_z= 94.7mm grav_b=(+0.03,+0.12,-0.99) r=1.76m +[headless_play] t= 10.80s step= 540 trunk_z= 92.3mm grav_b=(-0.04,-0.00,-1.00) r=1.77m +[headless_play] t= 10.90s step= 545 trunk_z= 94.2mm grav_b=(-0.05,-0.04,-1.00) r=1.79m +[headless_play] t= 11.00s step= 550 trunk_z= 93.2mm grav_b=(+0.00,+0.12,-0.99) r=1.80m +[headless_play] t= 11.10s step= 555 trunk_z= 94.8mm grav_b=(+0.03,+0.02,-1.00) r=1.82m +[headless_play] t= 11.20s step= 560 trunk_z= 94.3mm grav_b=(-0.00,-0.02,-1.00) r=1.83m +[headless_play] t= 11.30s step= 565 trunk_z= 94.3mm grav_b=(+0.05,+0.10,-0.99) r=1.85m +[headless_play] t= 11.40s step= 570 trunk_z= 92.8mm grav_b=(-0.02,-0.01,-1.00) r=1.86m +[headless_play] t= 11.50s step= 575 trunk_z= 93.5mm grav_b=(-0.05,-0.01,-1.00) r=1.87m +[headless_play] t= 11.60s step= 580 trunk_z= 94.7mm grav_b=(+0.05,+0.15,-0.99) r=1.89m +[headless_play] t= 11.70s step= 585 trunk_z= 100.7mm grav_b=(-0.02,+0.05,-1.00) r=1.90m +[headless_play] t= 11.80s step= 590 trunk_z= 93.9mm grav_b=(-0.04,-0.06,-1.00) r=1.92m +[headless_play] t= 11.90s step= 595 trunk_z= 92.5mm grav_b=(-0.00,+0.13,-0.99) r=1.94m +[headless_play] t= 12.00s step= 600 trunk_z= 102.1mm grav_b=(+0.07,+0.14,-0.99) r=1.96m +[headless_play] t= 12.10s step= 605 trunk_z= 101.2mm grav_b=(-0.03,+0.04,-1.00) r=1.98m +[headless_play] t= 12.20s step= 610 trunk_z= 95.3mm grav_b=(-0.08,-0.03,-1.00) r=2.01m +[headless_play] t= 12.30s step= 615 trunk_z= 93.9mm grav_b=(+0.03,+0.14,-0.99) r=2.03m +[headless_play] t= 12.40s step= 620 trunk_z= 96.3mm grav_b=(+0.06,+0.04,-1.00) r=2.04m +[headless_play] t= 12.50s step= 625 trunk_z= 85.6mm grav_b=(-0.08,-0.10,-0.99) r=2.07m +[headless_play] t= 12.60s step= 630 trunk_z= 90.6mm grav_b=(-0.06,+0.12,-0.99) r=2.09m +[headless_play] t= 12.70s step= 635 trunk_z= 100.2mm grav_b=(+0.10,+0.11,-0.99) r=2.11m +[headless_play] t= 12.80s step= 640 trunk_z= 93.4mm grav_b=(-0.02,-0.03,-1.00) r=2.13m +[headless_play] t= 12.90s step= 645 trunk_z= 95.0mm grav_b=(-0.06,-0.03,-1.00) r=2.14m +[headless_play] t= 13.00s step= 650 trunk_z= 94.8mm grav_b=(-0.00,+0.12,-0.99) r=2.15m +[headless_play] t= 13.10s step= 655 trunk_z= 98.2mm grav_b=(+0.01,+0.09,-1.00) r=2.17m +[headless_play] t= 13.20s step= 660 trunk_z= 96.6mm grav_b=(+0.00,-0.01,-1.00) r=2.17m +[headless_play] t= 13.30s step= 665 trunk_z= 91.7mm grav_b=(-0.04,+0.11,-0.99) r=2.17m +[headless_play] t= 13.40s step= 670 trunk_z= 99.9mm grav_b=(-0.01,+0.09,-1.00) r=2.17m +[headless_play] t= 13.50s step= 675 trunk_z= 94.9mm grav_b=(-0.02,-0.05,-1.00) r=2.17m +[headless_play] t= 13.60s step= 680 trunk_z= 94.7mm grav_b=(-0.05,+0.09,-0.99) r=2.18m +[headless_play] t= 13.70s step= 685 trunk_z= 101.2mm grav_b=(+0.03,+0.09,-1.00) r=2.19m +[headless_play] t= 13.80s step= 690 trunk_z= 94.8mm grav_b=(+0.03,-0.04,-1.00) r=2.19m +[headless_play] t= 13.90s step= 695 trunk_z= 93.9mm grav_b=(-0.01,+0.07,-1.00) r=2.20m +[headless_play] t= 14.00s step= 700 trunk_z= 97.4mm grav_b=(-0.04,+0.07,-1.00) r=2.21m +[headless_play] t= 14.10s step= 705 trunk_z= 95.1mm grav_b=(-0.10,-0.06,-0.99) r=2.20m +[headless_play] t= 14.20s step= 710 trunk_z= 94.7mm grav_b=(-0.11,+0.08,-0.99) r=2.20m +[headless_play] t= 14.30s step= 715 trunk_z= 101.0mm grav_b=(-0.01,+0.10,-1.00) r=2.21m +[headless_play] t= 14.40s step= 720 trunk_z= 94.9mm grav_b=(+0.04,-0.07,-1.00) r=2.21m +[headless_play] t= 14.50s step= 725 trunk_z= 96.0mm grav_b=(+0.04,+0.01,-1.00) r=2.22m +[headless_play] t= 14.60s step= 730 trunk_z= 99.4mm grav_b=(+0.02,+0.15,-0.99) r=2.23m +[headless_play] t= 14.70s step= 735 trunk_z= 103.7mm grav_b=(-0.04,+0.14,-0.99) r=2.24m +[headless_play] t= 14.80s step= 740 trunk_z= 96.3mm grav_b=(-0.03,-0.01,-1.00) r=2.25m +[headless_play] t= 14.90s step= 745 trunk_z= 97.4mm grav_b=(-0.04,+0.02,-1.00) r=2.25m +[headless_play] t= 15.00s step= 750 trunk_z= 97.2mm grav_b=(-0.09,+0.14,-0.99) r=2.26m +[headless_play] t= 15.10s step= 755 trunk_z= 96.4mm grav_b=(-0.00,+0.05,-1.00) r=2.26m +[headless_play] t= 15.20s step= 760 trunk_z= 87.1mm grav_b=(+0.05,-0.08,-1.00) r=2.26m +[headless_play] t= 15.30s step= 765 trunk_z= 86.9mm grav_b=(+0.07,+0.03,-1.00) r=2.27m +[headless_play] t= 15.40s step= 770 trunk_z= 94.1mm grav_b=(+0.04,+0.04,-1.00) r=2.27m +[headless_play] t= 15.50s step= 775 trunk_z= 94.4mm grav_b=(+0.01,+0.01,-1.00) r=2.28m +[headless_play] t= 15.60s step= 780 trunk_z= 93.8mm grav_b=(+0.03,+0.01,-1.00) r=2.28m +[headless_play] t= 15.70s step= 785 trunk_z= 95.5mm grav_b=(+0.05,+0.10,-0.99) r=2.29m +[headless_play] t= 15.80s step= 790 trunk_z= 94.3mm grav_b=(+0.12,+0.16,-0.98) r=2.29m +[headless_play] t= 15.90s step= 795 trunk_z= 97.5mm grav_b=(-0.03,+0.03,-1.00) r=2.30m +[headless_play] t= 16.00s step= 800 trunk_z= 99.3mm grav_b=(-0.00,+0.02,-1.00) r=2.31m +[headless_play] t= 16.10s step= 805 trunk_z= 94.3mm grav_b=(+0.02,+0.23,-0.97) r=2.31m +[headless_play] t= 16.20s step= 810 trunk_z= 101.1mm grav_b=(+0.08,+0.27,-0.96) r=2.31m +[headless_play] t= 16.30s step= 815 trunk_z= 107.3mm grav_b=(+0.01,+0.15,-0.99) r=2.32m +[headless_play] t= 16.40s step= 820 trunk_z= 102.0mm grav_b=(-0.06,+0.11,-0.99) r=2.33m +[headless_play] t= 16.50s step= 825 trunk_z= 95.6mm grav_b=(-0.10,+0.20,-0.97) r=2.34m +[headless_play] t= 16.60s step= 830 trunk_z= 99.9mm grav_b=(+0.01,+0.19,-0.98) r=2.35m +[headless_play] t= 16.70s step= 835 trunk_z= 100.5mm grav_b=(-0.02,+0.12,-0.99) r=2.36m +[headless_play] t= 16.80s step= 840 trunk_z= 96.2mm grav_b=(+0.00,+0.01,-1.00) r=2.38m +[headless_play] t= 16.90s step= 845 trunk_z= 93.0mm grav_b=(+0.03,+0.15,-0.99) r=2.38m +[headless_play] t= 17.00s step= 850 trunk_z= 96.0mm grav_b=(+0.05,+0.14,-0.99) r=2.39m +[headless_play] t= 17.10s step= 855 trunk_z= 93.4mm grav_b=(+0.02,+0.05,-1.00) r=2.41m +[headless_play] t= 17.20s step= 860 trunk_z= 94.3mm grav_b=(+0.04,+0.03,-1.00) r=2.42m +[headless_play] t= 17.30s step= 865 trunk_z= 91.9mm grav_b=(+0.03,+0.15,-0.99) r=2.42m +[headless_play] t= 17.40s step= 870 trunk_z= 92.6mm grav_b=(+0.00,+0.08,-1.00) r=2.43m +[headless_play] t= 17.50s step= 875 trunk_z= 93.4mm grav_b=(+0.00,-0.02,-1.00) r=2.45m +[headless_play] t= 17.60s step= 880 trunk_z= 91.8mm grav_b=(+0.04,+0.08,-1.00) r=2.45m +[headless_play] t= 17.70s step= 885 trunk_z= 91.5mm grav_b=(+0.06,+0.13,-0.99) r=2.45m +[headless_play] t= 17.80s step= 890 trunk_z= 89.4mm grav_b=(+0.05,+0.02,-1.00) r=2.46m +[headless_play] t= 17.90s step= 895 trunk_z= 92.8mm grav_b=(+0.01,+0.02,-1.00) r=2.47m +[headless_play] t= 18.00s step= 900 trunk_z= 89.0mm grav_b=(+0.02,+0.15,-0.99) r=2.47m +[headless_play] t= 18.10s step= 905 trunk_z= 88.6mm grav_b=(+0.06,+0.06,-1.00) r=2.47m +[headless_play] t= 18.20s step= 910 trunk_z= 89.2mm grav_b=(+0.03,-0.05,-1.00) r=2.48m +[headless_play] t= 18.30s step= 915 trunk_z= 85.2mm grav_b=(+0.09,+0.12,-0.99) r=2.49m +[headless_play] t= 18.40s step= 920 trunk_z= 88.9mm grav_b=(+0.08,+0.07,-0.99) r=2.49m +[headless_play] t= 18.50s step= 925 trunk_z= 89.0mm grav_b=(+0.00,-0.10,-0.99) r=2.50m +[headless_play] t= 18.60s step= 930 trunk_z= 89.8mm grav_b=(+0.04,+0.02,-1.00) r=2.50m +[headless_play] t= 18.70s step= 935 trunk_z= 91.7mm grav_b=(+0.03,+0.11,-0.99) r=2.50m +[headless_play] t= 18.80s step= 940 trunk_z= 90.7mm grav_b=(+0.01,-0.02,-1.00) r=2.50m +[headless_play] t= 18.90s step= 945 trunk_z= 90.6mm grav_b=(+0.03,-0.01,-1.00) r=2.51m +[headless_play] t= 19.00s step= 950 trunk_z= 85.7mm grav_b=(+0.07,+0.12,-0.99) r=2.51m +[headless_play] t= 19.10s step= 955 trunk_z= 92.4mm grav_b=(+0.03,+0.02,-1.00) r=2.51m +[headless_play] t= 19.20s step= 960 trunk_z= 91.5mm grav_b=(-0.06,-0.08,-1.00) r=2.52m +[headless_play] t= 19.30s step= 965 trunk_z= 91.6mm grav_b=(-0.05,+0.05,-1.00) r=2.53m +[headless_play] t= 19.40s step= 970 trunk_z= 96.9mm grav_b=(+0.04,+0.13,-0.99) r=2.52m +[headless_play] t= 19.50s step= 975 trunk_z= 93.7mm grav_b=(+0.01,-0.06,-1.00) r=2.52m +[headless_play] t= 19.60s step= 980 trunk_z= 94.7mm grav_b=(+0.00,+0.02,-1.00) r=2.52m +[headless_play] t= 19.70s step= 985 trunk_z= 94.4mm grav_b=(-0.03,+0.18,-0.98) r=2.51m +[headless_play] t= 19.80s step= 990 trunk_z= 98.0mm grav_b=(-0.13,+0.18,-0.97) r=2.52m +[headless_play] t= 19.90s step= 995 trunk_z= 91.5mm grav_b=(-0.03,+0.02,-1.00) r=2.52m +[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=0.47m +[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.00,+0.06,-1.00) r=0.47m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t1.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..3a3a1451a213f88d032a764d8396588b22da1347 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t1.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 127.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-5.905,-17.907,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.3mm grav_b=(-0.01,-0.00,-1.00) r=0.13m +[headless_play] t= 0.10s step= 5 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.13m +[headless_play] t= 0.20s step= 10 trunk_z= 120.9mm grav_b=(-0.00,-0.01,-1.00) r=0.14m +[headless_play] t= 0.30s step= 15 trunk_z= 121.9mm grav_b=(+0.02,+0.03,-1.00) r=0.13m +[headless_play] t= 0.40s step= 20 trunk_z= 119.0mm grav_b=(+0.04,-0.13,-0.99) r=0.14m +[headless_play] t= 0.50s step= 25 trunk_z= 123.2mm grav_b=(-0.11,-0.09,-0.99) r=0.14m +[headless_play] t= 0.60s step= 30 trunk_z= 116.0mm grav_b=(-0.10,+0.15,-0.98) r=0.14m +[headless_play] t= 0.70s step= 35 trunk_z= 126.3mm grav_b=(-0.03,+0.11,-0.99) r=0.15m +[headless_play] t= 0.80s step= 40 trunk_z= 120.9mm grav_b=(-0.01,-0.04,-1.00) r=0.16m +[headless_play] t= 0.90s step= 45 trunk_z= 123.8mm grav_b=(-0.02,+0.02,-1.00) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 122.5mm grav_b=(+0.04,+0.12,-0.99) r=0.18m +[headless_play] t= 1.10s step= 55 trunk_z= 128.8mm grav_b=(+0.00,+0.01,-1.00) r=0.20m +[headless_play] t= 1.20s step= 60 trunk_z= 121.3mm grav_b=(-0.08,-0.08,-0.99) r=0.23m +[headless_play] t= 1.30s step= 65 trunk_z= 117.3mm grav_b=(-0.10,+0.12,-0.99) r=0.25m +[headless_play] t= 1.40s step= 70 trunk_z= 124.2mm grav_b=(+0.03,+0.02,-1.00) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 119.1mm grav_b=(-0.01,-0.11,-0.99) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 122.1mm grav_b=(-0.09,+0.01,-1.00) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 122.3mm grav_b=(-0.01,+0.09,-1.00) r=0.34m +[headless_play] t= 1.80s step= 90 trunk_z= 124.2mm grav_b=(+0.03,-0.01,-1.00) r=0.36m +[headless_play] t= 1.90s step= 95 trunk_z= 123.4mm grav_b=(-0.03,-0.08,-1.00) r=0.38m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.11,+0.11,-0.99) r=0.41m +[headless_play] t= 2.10s step= 105 trunk_z= 124.2mm grav_b=(+0.01,+0.05,-1.00) r=0.43m +[headless_play] t= 2.20s step= 110 trunk_z= 121.9mm grav_b=(+0.01,-0.05,-1.00) r=0.45m +[headless_play] t= 2.30s step= 115 trunk_z= 126.0mm grav_b=(-0.07,-0.02,-1.00) r=0.47m +[headless_play] t= 2.40s step= 120 trunk_z= 122.6mm grav_b=(-0.03,+0.13,-0.99) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 128.3mm grav_b=(+0.03,+0.07,-1.00) r=0.51m +[headless_play] t= 2.60s step= 130 trunk_z= 121.3mm grav_b=(+0.03,-0.07,-1.00) r=0.53m +[headless_play] t= 2.70s step= 135 trunk_z= 128.1mm grav_b=(-0.12,-0.02,-0.99) r=0.55m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.09,+0.11,-0.99) r=0.57m +[headless_play] t= 2.90s step= 145 trunk_z= 123.2mm grav_b=(+0.04,+0.02,-1.00) r=0.60m +[headless_play] t= 3.00s step= 150 trunk_z= 119.2mm grav_b=(-0.02,-0.10,-0.99) r=0.61m +[headless_play] t= 3.10s step= 155 trunk_z= 122.9mm grav_b=(-0.08,+0.01,-1.00) r=0.63m +[headless_play] t= 3.20s step= 160 trunk_z= 124.6mm grav_b=(+0.05,+0.10,-0.99) r=0.65m +[headless_play] t= 3.30s step= 165 trunk_z= 129.0mm grav_b=(+0.09,-0.02,-1.00) r=0.67m +[headless_play] t= 3.40s step= 170 trunk_z= 117.5mm grav_b=(-0.08,-0.07,-0.99) r=0.70m +[headless_play] t= 3.50s step= 175 trunk_z= 115.7mm grav_b=(-0.16,+0.10,-0.98) r=0.72m +[headless_play] t= 3.60s step= 180 trunk_z= 126.8mm grav_b=(+0.03,+0.10,-0.99) r=0.75m +[headless_play] t= 3.70s step= 185 trunk_z= 124.6mm grav_b=(+0.06,+0.01,-1.00) r=0.77m +[headless_play] t= 3.80s step= 190 trunk_z= 120.0mm grav_b=(-0.08,+0.05,-1.00) r=0.78m +[headless_play] t= 3.90s step= 195 trunk_z= 119.1mm grav_b=(-0.01,+0.19,-0.98) r=0.80m +[headless_play] t= 4.00s step= 200 trunk_z= 135.3mm grav_b=(+0.13,+0.04,-0.99) r=0.83m +[headless_play] t= 4.10s step= 205 trunk_z= 97.8mm grav_b=(+0.00,-0.15,-0.99) r=0.86m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(-0.11,-0.01,-0.99) r=0.87m +[headless_play] t= 4.30s step= 215 trunk_z= 120.0mm grav_b=(-0.13,+0.14,-0.98) r=0.88m +[headless_play] t= 4.40s step= 220 trunk_z= 129.0mm grav_b=(-0.04,+0.11,-0.99) r=0.89m +[headless_play] t= 4.50s step= 225 trunk_z= 122.0mm grav_b=(+0.02,+0.02,-1.00) r=0.90m +[headless_play] t= 4.60s step= 230 trunk_z= 124.7mm grav_b=(-0.05,+0.01,-1.00) r=0.91m +[headless_play] t= 4.70s step= 235 trunk_z= 120.9mm grav_b=(+0.01,+0.15,-0.99) r=0.93m +[headless_play] t= 4.80s step= 240 trunk_z= 127.7mm grav_b=(+0.04,+0.09,-1.00) r=0.96m +[headless_play] t= 4.90s step= 245 trunk_z= 114.3mm grav_b=(-0.04,-0.02,-1.00) r=1.00m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(-0.17,+0.16,-0.97) r=1.03m +[headless_play] t= 5.10s step= 255 trunk_z= 122.1mm grav_b=(+0.04,+0.12,-0.99) r=1.05m +[headless_play] t= 5.20s step= 260 trunk_z= 121.2mm grav_b=(+0.01,-0.01,-1.00) r=1.07m +[headless_play] t= 5.30s step= 265 trunk_z= 120.1mm grav_b=(-0.02,-0.04,-1.00) r=1.10m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(+0.03,+0.09,-1.00) r=1.13m +[headless_play] t= 5.50s step= 275 trunk_z= 108.4mm grav_b=(+0.07,+0.00,-1.00) r=1.16m +[headless_play] t= 5.60s step= 280 trunk_z= 103.2mm grav_b=(+0.05,-0.12,-0.99) r=1.20m +[headless_play] t= 5.70s step= 285 trunk_z= 98.9mm grav_b=(+0.04,+0.03,-1.00) r=1.24m +[headless_play] t= 5.80s step= 290 trunk_z= 104.3mm grav_b=(+0.07,+0.03,-1.00) r=1.27m +[headless_play] t= 5.90s step= 295 trunk_z= 86.2mm grav_b=(-0.03,-0.13,-0.99) r=1.32m +[headless_play] t= 6.00s step= 300 trunk_z= 86.7mm grav_b=(-0.09,-0.14,-0.99) r=1.36m +[headless_play] t= 6.10s step= 305 trunk_z= 76.8mm grav_b=(+0.07,+0.00,-1.00) r=1.41m +[headless_play] t= 6.20s step= 310 trunk_z= 70.0mm grav_b=(+0.12,-0.07,-0.99) r=1.45m +[headless_play] t= 6.30s step= 315 trunk_z= 68.9mm grav_b=(+0.02,-0.12,-0.99) r=1.49m +[headless_play] t= 6.40s step= 320 trunk_z= 55.3mm grav_b=(-0.05,+0.11,-0.99) r=1.54m +[headless_play] t= 6.50s step= 325 trunk_z= 48.8mm grav_b=(-0.24,+0.08,-0.97) r=1.60m +[headless_play] t= 6.60s step= 330 trunk_z= 39.1mm grav_b=(-0.17,-0.06,-0.98) r=1.68m +[headless_play] t= 6.70s step= 335 trunk_z= 17.4mm grav_b=(+0.17,+0.13,-0.98) r=1.73m +[headless_play] t= 6.80s step= 340 trunk_z= 26.1mm grav_b=(+0.19,+0.05,-0.98) r=1.77m +[headless_play] t= 6.90s step= 345 trunk_z= 25.4mm grav_b=(-0.01,-0.12,-0.99) r=1.81m +[headless_play] t= 7.00s step= 350 trunk_z= 51.4mm grav_b=(+0.18,-0.04,-0.98) r=1.87m +[headless_play] t= 7.10s step= 355 trunk_z= 9.4mm grav_b=(+0.02,-0.04,-1.00) r=1.95m +[headless_play] t= 7.20s step= 360 trunk_z= -31.9mm grav_b=(-0.41,+0.11,-0.91) r=2.02m +[headless_play] t= 7.30s step= 365 trunk_z= -16.0mm grav_b=(-0.39,+0.14,-0.91) r=2.08m +[headless_play] t= 7.40s step= 370 trunk_z= -17.7mm grav_b=(-0.22,+0.17,-0.96) r=2.13m +[headless_play] t= 7.50s step= 375 trunk_z= -47.5mm grav_b=(+0.12,+0.37,-0.92) r=2.17m +[headless_play] t= 7.60s step= 380 trunk_z= -25.3mm grav_b=(+0.23,+0.13,-0.96) r=2.22m +[headless_play] t= 7.70s step= 385 trunk_z= -38.5mm grav_b=(+0.19,+0.38,-0.91) r=2.29m +[headless_play] RESET at t= 7.76s step= 388 (env termination, not a recovery) +[headless_play] t= 7.80s step= 390 trunk_z= 115.3mm grav_b=(-0.02,+0.00,-1.00) r=0.38m +[headless_play] t= 7.90s step= 395 trunk_z= 117.6mm grav_b=(-0.02,+0.00,-1.00) r=0.38m +[headless_play] t= 8.00s step= 400 trunk_z= 119.4mm grav_b=(+0.01,+0.01,-1.00) r=0.38m +[headless_play] t= 8.10s step= 405 trunk_z= 121.0mm grav_b=(+0.03,+0.06,-1.00) r=0.39m +[headless_play] t= 8.20s step= 410 trunk_z= 113.9mm grav_b=(+0.07,-0.23,-0.97) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 119.9mm grav_b=(+0.02,-0.09,-1.00) r=0.41m +[headless_play] t= 8.40s step= 420 trunk_z= 112.0mm grav_b=(-0.08,+0.11,-0.99) r=0.43m +[headless_play] t= 8.50s step= 425 trunk_z= 124.1mm grav_b=(-0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 8.60s step= 430 trunk_z= 122.7mm grav_b=(-0.02,-0.06,-1.00) r=0.46m +[headless_play] t= 8.70s step= 435 trunk_z= 118.8mm grav_b=(-0.03,+0.10,-0.99) r=0.46m +[headless_play] t= 8.80s step= 440 trunk_z= 124.0mm grav_b=(+0.05,-0.02,-1.00) r=0.47m +[headless_play] t= 8.90s step= 445 trunk_z= 109.4mm grav_b=(-0.03,-0.24,-0.97) r=0.48m +[headless_play] t= 9.00s step= 450 trunk_z= 121.1mm grav_b=(-0.13,-0.19,-0.97) r=0.49m +[headless_play] t= 9.10s step= 455 trunk_z= 116.8mm grav_b=(-0.03,+0.08,-1.00) r=0.51m +[headless_play] t= 9.20s step= 460 trunk_z= 125.3mm grav_b=(-0.00,+0.06,-1.00) r=0.52m +[headless_play] t= 9.30s step= 465 trunk_z= 118.7mm grav_b=(-0.00,-0.12,-0.99) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 126.9mm grav_b=(-0.01,-0.05,-1.00) r=0.55m +[headless_play] t= 9.50s step= 475 trunk_z= 118.8mm grav_b=(+0.01,+0.12,-0.99) r=0.57m +[headless_play] t= 9.60s step= 480 trunk_z= 128.4mm grav_b=(+0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 9.70s step= 485 trunk_z= 119.7mm grav_b=(-0.08,-0.13,-0.99) r=0.61m +[headless_play] t= 9.80s step= 490 trunk_z= 122.0mm grav_b=(-0.09,-0.02,-1.00) r=0.63m +[headless_play] t= 9.90s step= 495 trunk_z= 120.7mm grav_b=(+0.01,+0.03,-1.00) r=0.66m +[headless_play] t= 10.00s step= 500 trunk_z= 122.4mm grav_b=(-0.03,-0.13,-0.99) r=0.68m +[headless_play] t= 10.10s step= 505 trunk_z= 119.4mm grav_b=(-0.11,-0.11,-0.99) r=0.71m +[headless_play] t= 10.20s step= 510 trunk_z= 121.2mm grav_b=(-0.05,+0.01,-1.00) r=0.74m +[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00) r=0.77m +[headless_play] t= 10.40s step= 520 trunk_z= 108.2mm grav_b=(+0.08,-0.08,-0.99) r=0.78m +[headless_play] t= 10.50s step= 525 trunk_z= 109.7mm grav_b=(+0.03,+0.05,-1.00) r=0.79m +[headless_play] t= 10.60s step= 530 trunk_z= 113.3mm grav_b=(+0.01,+0.06,-1.00) r=0.81m +[headless_play] t= 10.70s step= 535 trunk_z= 111.3mm grav_b=(+0.08,-0.02,-1.00) r=0.82m +[headless_play] t= 10.80s step= 540 trunk_z= 116.1mm grav_b=(+0.07,-0.04,-1.00) r=0.82m +[headless_play] t= 10.90s step= 545 trunk_z= 112.8mm grav_b=(+0.02,+0.08,-1.00) r=0.84m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(+0.03,-0.00,-1.00) r=0.86m +[headless_play] t= 11.10s step= 555 trunk_z= 112.7mm grav_b=(+0.05,-0.06,-1.00) r=0.86m +[headless_play] t= 11.20s step= 560 trunk_z= 111.5mm grav_b=(+0.04,+0.01,-1.00) r=0.88m +[headless_play] t= 11.30s step= 565 trunk_z= 112.5mm grav_b=(+0.04,+0.06,-1.00) r=0.90m +[headless_play] t= 11.40s step= 570 trunk_z= 113.0mm grav_b=(+0.07,-0.01,-1.00) r=0.92m +[headless_play] t= 11.50s step= 575 trunk_z= 113.8mm grav_b=(+0.09,-0.06,-0.99) r=0.92m +[headless_play] t= 11.60s step= 580 trunk_z= 113.2mm grav_b=(+0.04,+0.05,-1.00) r=0.94m +[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(+0.02,+0.07,-1.00) r=0.96m +[headless_play] t= 11.80s step= 590 trunk_z= 112.1mm grav_b=(+0.07,-0.02,-1.00) r=0.98m +[headless_play] t= 11.90s step= 595 trunk_z= 116.1mm grav_b=(+0.06,-0.03,-1.00) r=0.98m +[headless_play] t= 12.00s step= 600 trunk_z= 107.5mm grav_b=(+0.10,+0.09,-0.99) r=1.02m +[headless_play] t= 12.10s step= 605 trunk_z= 117.8mm grav_b=(+0.12,-0.01,-0.99) r=1.05m +[headless_play] t= 12.20s step= 610 trunk_z= 122.7mm grav_b=(+0.00,-0.04,-1.00) r=1.08m +[headless_play] t= 12.30s step= 615 trunk_z= 122.2mm grav_b=(-0.08,+0.03,-1.00) r=1.13m +[headless_play] t= 12.40s step= 620 trunk_z= 108.6mm grav_b=(-0.08,+0.13,-0.99) r=1.18m +[headless_play] t= 12.50s step= 625 trunk_z= 104.2mm grav_b=(-0.07,+0.06,-1.00) r=1.22m +[headless_play] t= 12.60s step= 630 trunk_z= 90.6mm grav_b=(+0.06,+0.16,-0.98) r=1.27m +[headless_play] t= 12.70s step= 635 trunk_z= 90.4mm grav_b=(-0.01,+0.19,-0.98) r=1.30m +[headless_play] t= 12.80s step= 640 trunk_z= 81.7mm grav_b=(+0.02,+0.05,-1.00) r=1.34m +[headless_play] t= 12.90s step= 645 trunk_z= 79.3mm grav_b=(+0.02,+0.17,-0.98) r=1.37m +[headless_play] t= 13.00s step= 650 trunk_z= 72.7mm grav_b=(+0.03,+0.04,-1.00) r=1.41m +[headless_play] t= 13.10s step= 655 trunk_z= 71.0mm grav_b=(+0.04,+0.15,-0.99) r=1.44m +[headless_play] t= 13.20s step= 660 trunk_z= 67.3mm grav_b=(+0.02,+0.13,-0.99) r=1.47m +[headless_play] t= 13.30s step= 665 trunk_z= 66.4mm grav_b=(+0.03,+0.14,-0.99) r=1.50m +[headless_play] t= 13.40s step= 670 trunk_z= 64.6mm grav_b=(+0.03,+0.13,-0.99) r=1.52m +[headless_play] t= 13.50s step= 675 trunk_z= 63.2mm grav_b=(+0.01,+0.13,-0.99) r=1.54m +[headless_play] t= 13.60s step= 680 trunk_z= 62.1mm grav_b=(-0.01,+0.13,-0.99) r=1.56m +[headless_play] t= 13.70s step= 685 trunk_z= 61.1mm grav_b=(-0.02,+0.12,-0.99) r=1.57m +[headless_play] t= 13.80s step= 690 trunk_z= 60.5mm grav_b=(-0.03,+0.12,-0.99) r=1.58m +[headless_play] t= 13.90s step= 695 trunk_z= 60.6mm grav_b=(-0.05,+0.11,-0.99) r=1.58m +[headless_play] t= 14.00s step= 700 trunk_z= 60.9mm grav_b=(+0.01,+0.11,-0.99) r=1.58m +[headless_play] t= 14.10s step= 705 trunk_z= 62.4mm grav_b=(+0.04,+0.10,-0.99) r=1.58m +[headless_play] t= 14.20s step= 710 trunk_z= 63.1mm grav_b=(+0.05,+0.10,-0.99) r=1.58m +[headless_play] t= 14.30s step= 715 trunk_z= 63.2mm grav_b=(+0.06,+0.09,-0.99) r=1.58m +[headless_play] t= 14.40s step= 720 trunk_z= 61.1mm grav_b=(-0.00,+0.13,-0.99) r=1.58m +[headless_play] t= 14.50s step= 725 trunk_z= 58.8mm grav_b=(-0.01,+0.10,-0.99) r=1.60m +[headless_play] t= 14.60s step= 730 trunk_z= 58.5mm grav_b=(-0.03,+0.12,-0.99) r=1.60m +[headless_play] t= 14.70s step= 735 trunk_z= 58.1mm grav_b=(-0.04,+0.12,-0.99) r=1.60m +[headless_play] t= 14.80s step= 740 trunk_z= 58.2mm grav_b=(-0.03,+0.12,-0.99) r=1.60m +[headless_play] t= 14.90s step= 745 trunk_z= 58.2mm grav_b=(-0.03,+0.12,-0.99) r=1.61m +[headless_play] t= 15.00s step= 750 trunk_z= 58.2mm grav_b=(-0.03,+0.12,-0.99) r=1.61m +[headless_play] t= 15.10s step= 755 trunk_z= 58.2mm grav_b=(-0.03,+0.12,-0.99) r=1.61m +[headless_play] t= 15.20s step= 760 trunk_z= 56.8mm grav_b=(-0.04,+0.12,-0.99) r=1.62m +[headless_play] t= 15.30s step= 765 trunk_z= 53.4mm grav_b=(-0.05,+0.11,-0.99) r=1.66m +[headless_play] t= 15.40s step= 770 trunk_z= 51.0mm grav_b=(-0.04,+0.12,-0.99) r=1.69m +[headless_play] t= 15.50s step= 775 trunk_z= 48.8mm grav_b=(-0.02,+0.11,-0.99) r=1.71m +[headless_play] t= 15.60s step= 780 trunk_z= 46.9mm grav_b=(-0.02,+0.11,-0.99) r=1.73m +[headless_play] t= 15.70s step= 785 trunk_z= 45.6mm grav_b=(-0.02,+0.11,-0.99) r=1.74m +[headless_play] t= 15.80s step= 790 trunk_z= 44.9mm grav_b=(-0.02,+0.11,-0.99) r=1.75m +[headless_play] t= 15.90s step= 795 trunk_z= 44.7mm grav_b=(-0.03,+0.11,-0.99) r=1.76m +[headless_play] t= 16.00s step= 800 trunk_z= 44.8mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.10s step= 805 trunk_z= 44.8mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.20s step= 810 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.30s step= 815 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.40s step= 820 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.50s step= 825 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.60s step= 830 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.70s step= 835 trunk_z= 44.7mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.80s step= 840 trunk_z= 44.6mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 16.90s step= 845 trunk_z= 44.6mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 17.00s step= 850 trunk_z= 44.6mm grav_b=(-0.01,+0.11,-0.99) r=1.76m +[headless_play] t= 17.10s step= 855 trunk_z= 44.6mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 17.20s step= 860 trunk_z= 44.5mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 17.30s step= 865 trunk_z= 44.5mm grav_b=(-0.02,+0.11,-0.99) r=1.76m +[headless_play] t= 17.40s step= 870 trunk_z= 44.5mm grav_b=(-0.01,+0.11,-0.99) r=1.76m +[headless_play] t= 17.50s step= 875 trunk_z= 44.3mm grav_b=(-0.03,+0.10,-0.99) r=1.76m +[headless_play] t= 17.60s step= 880 trunk_z= 43.8mm grav_b=(-0.01,+0.10,-1.00) r=1.76m +[headless_play] t= 17.70s step= 885 trunk_z= 43.8mm grav_b=(-0.02,+0.10,-1.00) r=1.76m +[headless_play] t= 17.80s step= 890 trunk_z= 43.9mm grav_b=(-0.00,+0.10,-1.00) r=1.76m +[headless_play] t= 17.90s step= 895 trunk_z= 43.9mm grav_b=(-0.00,+0.10,-1.00) r=1.76m +[headless_play] t= 18.00s step= 900 trunk_z= 43.9mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.10s step= 905 trunk_z= 43.9mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.20s step= 910 trunk_z= 43.9mm grav_b=(-0.00,+0.10,-0.99) r=1.76m +[headless_play] t= 18.30s step= 915 trunk_z= 43.9mm grav_b=(-0.00,+0.10,-0.99) r=1.76m +[headless_play] t= 18.40s step= 920 trunk_z= 43.9mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.50s step= 925 trunk_z= 43.9mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.60s step= 930 trunk_z= 43.8mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.70s step= 935 trunk_z= 43.8mm grav_b=(-0.01,+0.10,-0.99) r=1.76m +[headless_play] t= 18.80s step= 940 trunk_z= 45.3mm grav_b=(+0.00,+0.05,-1.00) r=1.76m +[headless_play] t= 18.90s step= 945 trunk_z= 46.4mm grav_b=(+0.04,+0.08,-1.00) r=1.76m +[headless_play] t= 19.00s step= 950 trunk_z= 45.0mm grav_b=(+0.02,+0.13,-0.99) r=1.78m +[headless_play] t= 19.10s step= 955 trunk_z= 39.9mm grav_b=(+0.05,+0.03,-1.00) r=1.79m +[headless_play] t= 19.20s step= 960 trunk_z= 37.2mm grav_b=(-0.12,+0.17,-0.98) r=1.81m +[headless_play] t= 19.30s step= 965 trunk_z= 42.8mm grav_b=(-0.03,+0.21,-0.98) r=1.84m +[headless_play] t= 19.40s step= 970 trunk_z= 47.6mm grav_b=(-0.01,+0.15,-0.99) r=1.86m +[headless_play] t= 19.50s step= 975 trunk_z= 37.4mm grav_b=(-0.05,+0.00,-1.00) r=1.89m +[headless_play] t= 19.60s step= 980 trunk_z= 27.0mm grav_b=(+0.03,+0.09,-1.00) r=1.91m +[headless_play] t= 19.70s step= 985 trunk_z= 36.5mm grav_b=(+0.07,+0.13,-0.99) r=1.94m +[headless_play] t= 19.80s step= 990 trunk_z= 24.3mm grav_b=(+0.08,+0.02,-1.00) r=1.97m +[headless_play] t= 19.90s step= 995 trunk_z= 24.9mm grav_b=(-0.05,+0.12,-0.99) r=2.00m +[headless_play] t= 20.00s step=1000 trunk_z= 15.4mm grav_b=(-0.13,+0.17,-0.98) r=2.04m +[headless_play] t= 20.10s step=1005 trunk_z= 26.4mm grav_b=(-0.05,+0.16,-0.99) r=2.09m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t10.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..b527c7d2dee87099e3cad90e5e741b8ddb4f6200 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t10.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.523,-18.462,+0.252) +[headless_play] t= 0.00s step= 0 trunk_z= 122.2mm grav_b=(-0.01,+0.00,-1.00) r=0.66m +[headless_play] t= 0.10s step= 5 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.67m +[headless_play] t= 0.20s step= 10 trunk_z= 118.9mm grav_b=(-0.02,-0.01,-1.00) r=0.67m +[headless_play] t= 0.30s step= 15 trunk_z= 119.5mm grav_b=(-0.01,+0.01,-1.00) r=0.67m +[headless_play] t= 0.40s step= 20 trunk_z= 119.7mm grav_b=(-0.02,+0.01,-1.00) r=0.67m +[headless_play] t= 0.50s step= 25 trunk_z= 119.8mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 0.60s step= 30 trunk_z= 119.9mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 0.70s step= 35 trunk_z= 120.0mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 0.80s step= 40 trunk_z= 120.0mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 0.90s step= 45 trunk_z= 120.0mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.00s step= 50 trunk_z= 120.0mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.10s step= 55 trunk_z= 120.0mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 1.40s step= 70 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.50s step= 75 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.60s step= 80 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.70s step= 85 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.80s step= 90 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 1.90s step= 95 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.00s step= 100 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.10s step= 105 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.30s step= 115 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.50s step= 125 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.60s step= 130 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.70s step= 135 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.80s step= 140 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 2.90s step= 145 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.00s step= 150 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.10s step= 155 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.20s step= 160 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.30s step= 165 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.40s step= 170 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.50s step= 175 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.60s step= 180 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.70s step= 185 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.80s step= 190 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 3.90s step= 195 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.00s step= 200 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.10s step= 205 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.20s step= 210 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.30s step= 215 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.40s step= 220 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.50s step= 225 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.60s step= 230 trunk_z= 120.1mm grav_b=(-0.04,+0.01,-1.00) r=0.66m +[headless_play] t= 4.70s step= 235 trunk_z= 120.1mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 4.80s step= 240 trunk_z= 120.2mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 4.90s step= 245 trunk_z= 120.2mm grav_b=(-0.04,+0.02,-1.00) r=0.66m +[headless_play] t= 5.00s step= 250 trunk_z= 120.6mm grav_b=(-0.04,+0.01,-1.00) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 119.6mm grav_b=(-0.04,+0.03,-1.00) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(-0.05,+0.02,-1.00) r=0.68m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(-0.04,-0.02,-1.00) r=0.69m +[headless_play] t= 5.40s step= 270 trunk_z= 113.3mm grav_b=(-0.00,+0.07,-1.00) r=0.69m +[headless_play] t= 5.50s step= 275 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) r=0.70m +[headless_play] t= 5.60s step= 280 trunk_z= 111.9mm grav_b=(+0.05,+0.07,-1.00) r=0.72m +[headless_play] t= 5.70s step= 285 trunk_z= 117.9mm grav_b=(+0.05,+0.09,-0.99) r=0.74m +[headless_play] t= 5.80s step= 290 trunk_z= 114.8mm grav_b=(+0.02,+0.00,-1.00) r=0.75m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.05,+0.03,-1.00) r=0.75m +[headless_play] t= 6.00s step= 300 trunk_z= 114.1mm grav_b=(+0.04,+0.02,-1.00) r=0.74m +[headless_play] t= 6.10s step= 305 trunk_z= 114.6mm grav_b=(-0.02,+0.01,-1.00) r=0.74m +[headless_play] t= 6.20s step= 310 trunk_z= 115.3mm grav_b=(-0.04,+0.01,-1.00) r=0.73m +[headless_play] t= 6.30s step= 315 trunk_z= 115.7mm grav_b=(-0.04,+0.00,-1.00) r=0.73m +[headless_play] t= 6.40s step= 320 trunk_z= 115.8mm grav_b=(-0.02,+0.00,-1.00) r=0.74m +[headless_play] t= 6.50s step= 325 trunk_z= 115.7mm grav_b=(-0.00,+0.00,-1.00) r=0.74m +[headless_play] t= 6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 6.70s step= 335 trunk_z= 115.8mm grav_b=(+0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 6.80s step= 340 trunk_z= 115.9mm grav_b=(-0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 6.90s step= 345 trunk_z= 115.9mm grav_b=(-0.00,+0.00,-1.00) r=0.74m +[headless_play] t= 7.00s step= 350 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 7.10s step= 355 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 7.20s step= 360 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 7.30s step= 365 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 7.40s step= 370 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) r=0.74m +[headless_play] t= 7.50s step= 375 trunk_z= 116.1mm grav_b=(-0.01,-0.00,-1.00) r=0.74m +[headless_play] t= 7.60s step= 380 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 7.70s step= 385 trunk_z= 116.5mm grav_b=(+0.02,+0.00,-1.00) r=0.74m +[headless_play] t= 7.80s step= 390 trunk_z= 116.6mm grav_b=(+0.02,+0.00,-1.00) r=0.74m +[headless_play] t= 7.90s step= 395 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.10s step= 405 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.20s step= 410 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.40s step= 420 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.60s step= 430 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 8.90s step= 445 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 9.00s step= 450 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 9.10s step= 455 trunk_z= 116.7mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 9.20s step= 460 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 9.30s step= 465 trunk_z= 116.7mm grav_b=(+0.01,+0.01,-1.00) r=0.74m +[headless_play] t= 9.40s step= 470 trunk_z= 116.8mm grav_b=(+0.01,+0.00,-1.00) r=0.74m +[headless_play] t= 9.50s step= 475 trunk_z= 117.5mm grav_b=(-0.05,+0.01,-1.00) r=0.69m +[headless_play] t= 9.60s step= 480 trunk_z= 119.0mm grav_b=(-0.16,-0.01,-0.99) r=0.65m +[headless_play] t= 9.70s step= 485 trunk_z= 112.5mm grav_b=(-0.20,+0.03,-0.98) r=0.62m +[headless_play] t= 9.80s step= 490 trunk_z= 79.9mm grav_b=(-0.24,+0.23,-0.94) r=0.58m +[headless_play] t= 9.90s step= 495 trunk_z= 77.1mm grav_b=(+0.06,+0.39,-0.92) r=0.55m +[headless_play] t= 10.00s step= 500 trunk_z= 101.6mm grav_b=(+0.13,+0.06,-0.99) r=0.53m +[headless_play] t= 10.10s step= 505 trunk_z= 120.9mm grav_b=(-0.07,-0.00,-1.00) r=0.53m +[headless_play] t= 10.20s step= 510 trunk_z= 118.4mm grav_b=(-0.09,+0.08,-0.99) r=0.53m +[headless_play] t= 10.30s step= 515 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 10.40s step= 520 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 10.50s step= 525 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 10.60s step= 530 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 10.70s step= 535 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 10.80s step= 540 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 11.00s step= 550 trunk_z= 116.8mm grav_b=(-0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.10s step= 555 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.20s step= 560 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.30s step= 565 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.40s step= 570 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.50s step= 575 trunk_z= 116.8mm grav_b=(+0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 11.60s step= 580 trunk_z= 116.7mm grav_b=(+0.01,-0.00,-1.00) r=0.53m +[headless_play] t= 11.70s step= 585 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) r=0.53m +[headless_play] t= 11.80s step= 590 trunk_z= 116.5mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 11.90s step= 595 trunk_z= 116.6mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.53m +[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 12.30s step= 615 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 12.40s step= 620 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 12.50s step= 625 trunk_z= 116.5mm grav_b=(-0.00,-0.01,-1.00) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 116.6mm grav_b=(-0.00,-0.01,-1.00) r=0.53m +[headless_play] t= 12.70s step= 635 trunk_z= 116.5mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 12.80s step= 640 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 12.90s step= 645 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 13.00s step= 650 trunk_z= 116.4mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 13.10s step= 655 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 13.20s step= 660 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 13.30s step= 665 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(+0.02,-0.01,-1.00) r=0.54m +[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(+0.07,-0.01,-1.00) r=0.55m +[headless_play] t= 13.70s step= 685 trunk_z= 117.4mm grav_b=(+0.09,-0.01,-1.00) r=0.55m +[headless_play] t= 13.80s step= 690 trunk_z= 116.9mm grav_b=(+0.04,-0.02,-1.00) r=0.55m +[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(-0.05,-0.02,-1.00) r=0.54m +[headless_play] t= 14.00s step= 700 trunk_z= 117.0mm grav_b=(-0.08,-0.01,-1.00) r=0.54m +[headless_play] t= 14.10s step= 705 trunk_z= 117.5mm grav_b=(-0.06,-0.01,-1.00) r=0.54m +[headless_play] t= 14.20s step= 710 trunk_z= 117.3mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 14.30s step= 715 trunk_z= 117.4mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 14.50s step= 725 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 14.60s step= 730 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 14.70s step= 735 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 14.80s step= 740 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 14.90s step= 745 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.00s step= 750 trunk_z= 117.4mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.20s step= 760 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.30s step= 765 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.60s step= 780 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.80s step= 790 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 15.90s step= 795 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.00s step= 800 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.10s step= 805 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.20s step= 810 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.30s step= 815 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.40s step= 820 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.60s step= 830 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 16.80s step= 840 trunk_z= 118.2mm grav_b=(+0.02,+0.01,-1.00) r=0.54m +[headless_play] t= 16.90s step= 845 trunk_z= 118.6mm grav_b=(+0.04,+0.02,-1.00) r=0.55m +[headless_play] t= 17.00s step= 850 trunk_z= 118.3mm grav_b=(+0.03,+0.01,-1.00) r=0.55m +[headless_play] t= 17.10s step= 855 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=0.54m +[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.40s step= 870 trunk_z= 117.5mm grav_b=(-0.01,-0.01,-1.00) r=0.55m +[headless_play] t= 17.50s step= 875 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 17.60s step= 880 trunk_z= 117.4mm grav_b=(+0.00,-0.00,-1.00) r=0.55m +[headless_play] t= 17.70s step= 885 trunk_z= 117.5mm grav_b=(-0.01,-0.00,-1.00) r=0.55m +[headless_play] t= 17.80s step= 890 trunk_z= 117.7mm grav_b=(-0.01,+0.00,-1.00) r=0.55m +[headless_play] t= 17.90s step= 895 trunk_z= 118.5mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 18.00s step= 900 trunk_z= 118.7mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 18.10s step= 905 trunk_z= 118.9mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 18.20s step= 910 trunk_z= 119.0mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 18.30s step= 915 trunk_z= 119.0mm grav_b=(-0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 18.40s step= 920 trunk_z= 118.8mm grav_b=(-0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 18.50s step= 925 trunk_z= 118.8mm grav_b=(-0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.3mm grav_b=(-0.00,+0.00,-1.00) r=0.55m +[headless_play] t= 18.70s step= 935 trunk_z= 119.2mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 18.80s step= 940 trunk_z= 119.4mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 18.90s step= 945 trunk_z= 119.5mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 19.00s step= 950 trunk_z= 119.4mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 19.10s step= 955 trunk_z= 119.4mm grav_b=(+0.00,+0.01,-1.00) r=0.55m +[headless_play] t= 19.20s step= 960 trunk_z= 119.3mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 19.30s step= 965 trunk_z= 119.4mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(+0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 19.50s step= 975 trunk_z= 119.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 19.60s step= 980 trunk_z= 119.5mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 19.70s step= 985 trunk_z= 119.3mm grav_b=(-0.00,+0.02,-1.00) r=0.55m +[headless_play] t= 19.80s step= 990 trunk_z= 119.3mm grav_b=(+0.00,+0.01,-1.00) r=0.56m +[headless_play] t= 19.90s step= 995 trunk_z= 118.9mm grav_b=(+0.01,+0.02,-1.00) r=0.56m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 122.4mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 20.10s step=1005 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.44m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t11.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..596e8946614f042f5479ca8ffc461db04548916f --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t11.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.3mm grav_b=(+0.00,-0.00,-1.00) root_w=(-17.613,-17.570,+0.249) +[headless_play] t= 0.00s step= 0 trunk_z= 119.7mm grav_b=(-0.01,+0.00,-1.00) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(-0.01,+0.03,-1.00) r=0.57m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.06,+0.03,-1.00) r=0.55m +[headless_play] t= 0.30s step= 15 trunk_z= 114.8mm grav_b=(+0.06,+0.01,-1.00) r=0.53m +[headless_play] t= 0.40s step= 20 trunk_z= 109.5mm grav_b=(+0.02,-0.10,-0.99) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 114.8mm grav_b=(+0.03,+0.06,-1.00) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 112.1mm grav_b=(+0.05,-0.05,-1.00) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 112.1mm grav_b=(+0.07,-0.07,-0.99) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 113.3mm grav_b=(+0.04,+0.08,-1.00) r=0.43m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00) r=0.41m +[headless_play] t= 1.10s step= 55 trunk_z= 110.7mm grav_b=(+0.04,-0.08,-1.00) r=0.39m +[headless_play] t= 1.20s step= 60 trunk_z= 112.6mm grav_b=(+0.02,+0.04,-1.00) r=0.38m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.02,+0.02,-1.00) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 112.4mm grav_b=(+0.05,-0.04,-1.00) r=0.34m +[headless_play] t= 1.50s step= 75 trunk_z= 112.3mm grav_b=(+0.08,-0.08,-0.99) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 112.3mm grav_b=(+0.04,+0.09,-1.00) r=0.30m +[headless_play] t= 1.70s step= 85 trunk_z= 117.5mm grav_b=(+0.03,+0.02,-1.00) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 113.0mm grav_b=(+0.01,-0.09,-1.00) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(+0.04,+0.00,-1.00) r=0.25m +[headless_play] t= 2.00s step= 100 trunk_z= 117.2mm grav_b=(+0.02,+0.07,-1.00) r=0.23m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(+0.04,+0.01,-1.00) r=0.21m +[headless_play] t= 2.20s step= 110 trunk_z= 111.0mm grav_b=(+0.06,-0.10,-0.99) r=0.19m +[headless_play] t= 2.30s step= 115 trunk_z= 113.4mm grav_b=(+0.06,-0.00,-1.00) r=0.18m +[headless_play] t= 2.40s step= 120 trunk_z= 117.7mm grav_b=(+0.03,+0.06,-1.00) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 115.9mm grav_b=(+0.02,-0.02,-1.00) r=0.14m +[headless_play] t= 2.60s step= 130 trunk_z= 114.9mm grav_b=(+0.02,-0.07,-1.00) r=0.12m +[headless_play] t= 2.70s step= 135 trunk_z= 112.9mm grav_b=(+0.05,+0.05,-1.00) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 117.6mm grav_b=(+0.06,+0.04,-1.00) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 113.1mm grav_b=(+0.04,-0.08,-1.00) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(+0.03,-0.05,-1.00) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 112.1mm grav_b=(+0.06,+0.09,-0.99) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 116.7mm grav_b=(+0.06,+0.02,-1.00) r=0.02m +[headless_play] t= 3.30s step= 165 trunk_z= 111.3mm grav_b=(+0.04,-0.10,-0.99) r=0.02m +[headless_play] t= 3.40s step= 170 trunk_z= 114.3mm grav_b=(+0.05,-0.01,-1.00) r=0.03m +[headless_play] t= 3.50s step= 175 trunk_z= 116.1mm grav_b=(+0.05,+0.07,-1.00) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.05,-0.01,-1.00) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 114.2mm grav_b=(+0.02,-0.11,-0.99) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 115.1mm grav_b=(+0.05,+0.02,-1.00) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 116.7mm grav_b=(+0.05,+0.09,-0.99) r=0.12m +[headless_play] t= 4.00s step= 200 trunk_z= 115.4mm grav_b=(+0.09,+0.01,-1.00) r=0.14m +[headless_play] t= 4.10s step= 205 trunk_z= 112.8mm grav_b=(+0.02,-0.09,-1.00) r=0.14m +[headless_play] t= 4.20s step= 210 trunk_z= 120.4mm grav_b=(-0.03,-0.02,-1.00) r=0.14m +[headless_play] t= 4.30s step= 215 trunk_z= 122.7mm grav_b=(-0.01,+0.09,-1.00) r=0.15m +[headless_play] t= 4.40s step= 220 trunk_z= 123.3mm grav_b=(+0.01,-0.08,-1.00) r=0.16m +[headless_play] t= 4.50s step= 225 trunk_z= 122.6mm grav_b=(-0.01,-0.12,-0.99) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 120.3mm grav_b=(-0.05,+0.04,-1.00) r=0.19m +[headless_play] t= 4.70s step= 235 trunk_z= 121.2mm grav_b=(-0.01,-0.06,-1.00) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 116.4mm grav_b=(-0.02,-0.18,-0.98) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 121.2mm grav_b=(+0.04,-0.04,-1.00) r=0.32m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(+0.05,+0.16,-0.99) r=0.35m +[headless_play] t= 5.10s step= 255 trunk_z= 133.3mm grav_b=(-0.03,+0.14,-0.99) r=0.37m +[headless_play] t= 5.20s step= 260 trunk_z= 116.3mm grav_b=(-0.07,-0.01,-1.00) r=0.39m +[headless_play] t= 5.30s step= 265 trunk_z= 118.4mm grav_b=(-0.03,+0.02,-1.00) r=0.40m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.03,+0.04,-1.00) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.05,+0.02,-1.00) r=0.39m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.07,+0.01,-1.00) r=0.39m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(-0.07,+0.00,-1.00) r=0.39m +[headless_play] t= 5.80s step= 290 trunk_z= 117.9mm grav_b=(-0.06,+0.00,-1.00) r=0.39m +[headless_play] t= 5.90s step= 295 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.39m +[headless_play] t= 6.00s step= 300 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.10s step= 305 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.20s step= 310 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.30s step= 315 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.40s step= 320 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.50s step= 325 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.60s step= 330 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.70s step= 335 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.80s step= 340 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 6.90s step= 345 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.00s step= 350 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.10s step= 355 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.20s step= 360 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.30s step= 365 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.40s step= 370 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.50s step= 375 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.60s step= 380 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.70s step= 385 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.80s step= 390 trunk_z= 118.1mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 7.90s step= 395 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 8.00s step= 400 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 8.10s step= 405 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 8.20s step= 410 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 8.30s step= 415 trunk_z= 118.2mm grav_b=(-0.05,+0.00,-1.00) r=0.39m +[headless_play] t= 8.40s step= 420 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00) r=0.40m +[headless_play] t= 8.50s step= 425 trunk_z= 117.9mm grav_b=(-0.04,-0.01,-1.00) r=0.40m +[headless_play] t= 8.60s step= 430 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00) r=0.40m +[headless_play] t= 8.70s step= 435 trunk_z= 117.7mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 8.80s step= 440 trunk_z= 118.0mm grav_b=(+0.02,-0.01,-1.00) r=0.40m +[headless_play] t= 8.90s step= 445 trunk_z= 118.3mm grav_b=(+0.00,-0.01,-1.00) r=0.40m +[headless_play] t= 9.00s step= 450 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 9.20s step= 460 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 9.30s step= 465 trunk_z= 117.9mm grav_b=(-0.00,-0.02,-1.00) r=0.40m +[headless_play] t= 9.40s step= 470 trunk_z= 117.7mm grav_b=(-0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 9.50s step= 475 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 9.60s step= 480 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 9.70s step= 485 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 9.80s step= 490 trunk_z= 117.8mm grav_b=(-0.02,-0.02,-1.00) r=0.40m +[headless_play] t= 9.90s step= 495 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.10s step= 505 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.20s step= 510 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.30s step= 515 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.40s step= 520 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.50s step= 525 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.60s step= 530 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 10.80s step= 540 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 117.7mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.30s step= 565 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.40s step= 570 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 117.7mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.80s step= 590 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 117.8mm grav_b=(-0.04,-0.02,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 12.40s step= 620 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(-0.05,-0.02,-1.00) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 119.8mm grav_b=(-0.05,+0.05,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 123.2mm grav_b=(-0.01,+0.07,-1.00) r=0.41m +[headless_play] t= 12.80s step= 640 trunk_z= 122.6mm grav_b=(+0.02,-0.11,-0.99) r=0.42m +[headless_play] t= 12.90s step= 645 trunk_z= 121.0mm grav_b=(-0.06,-0.07,-1.00) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 121.3mm grav_b=(-0.09,+0.07,-0.99) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 121.4mm grav_b=(-0.06,-0.04,-1.00) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 125.8mm grav_b=(-0.02,-0.06,-1.00) r=0.45m +[headless_play] t= 13.30s step= 665 trunk_z= 119.3mm grav_b=(-0.05,+0.07,-1.00) r=0.45m +[headless_play] t= 13.40s step= 670 trunk_z= 125.5mm grav_b=(-0.05,+0.06,-1.00) r=0.45m +[headless_play] t= 13.50s step= 675 trunk_z= 119.2mm grav_b=(-0.07,-0.10,-0.99) r=0.43m +[headless_play] t= 13.60s step= 680 trunk_z= 113.6mm grav_b=(-0.18,+0.11,-0.98) r=0.40m +[headless_play] t= 13.70s step= 685 trunk_z= 119.4mm grav_b=(-0.05,+0.02,-1.00) r=0.38m +[headless_play] t= 13.80s step= 690 trunk_z= 113.8mm grav_b=(-0.02,-0.11,-0.99) r=0.36m +[headless_play] t= 13.90s step= 695 trunk_z= 115.9mm grav_b=(-0.02,+0.06,-1.00) r=0.34m +[headless_play] t= 14.00s step= 700 trunk_z= 121.6mm grav_b=(-0.01,+0.06,-1.00) r=0.32m +[headless_play] t= 14.10s step= 705 trunk_z= 120.5mm grav_b=(-0.04,-0.04,-1.00) r=0.32m +[headless_play] t= 14.20s step= 710 trunk_z= 118.7mm grav_b=(-0.05,+0.10,-0.99) r=0.32m +[headless_play] t= 14.30s step= 715 trunk_z= 121.2mm grav_b=(-0.03,+0.00,-1.00) r=0.32m +[headless_play] t= 14.40s step= 720 trunk_z= 119.8mm grav_b=(+0.01,-0.08,-1.00) r=0.32m +[headless_play] t= 14.50s step= 725 trunk_z= 117.1mm grav_b=(-0.02,+0.11,-0.99) r=0.33m +[headless_play] t= 14.60s step= 730 trunk_z= 125.9mm grav_b=(-0.03,+0.08,-1.00) r=0.33m +[headless_play] t= 14.70s step= 735 trunk_z= 119.9mm grav_b=(-0.02,-0.09,-1.00) r=0.35m +[headless_play] t= 14.80s step= 740 trunk_z= 119.6mm grav_b=(-0.03,+0.04,-1.00) r=0.35m +[headless_play] t= 14.90s step= 745 trunk_z= 125.5mm grav_b=(+0.02,+0.09,-1.00) r=0.36m +[headless_play] t= 15.00s step= 750 trunk_z= 118.2mm grav_b=(-0.01,-0.10,-0.99) r=0.38m +[headless_play] t= 15.10s step= 755 trunk_z= 121.3mm grav_b=(-0.01,-0.03,-1.00) r=0.39m +[headless_play] t= 15.20s step= 760 trunk_z= 119.9mm grav_b=(-0.02,+0.07,-1.00) r=0.40m +[headless_play] t= 15.30s step= 765 trunk_z= 118.0mm grav_b=(-0.04,-0.05,-1.00) r=0.41m +[headless_play] t= 15.40s step= 770 trunk_z= 116.3mm grav_b=(-0.02,+0.08,-1.00) r=0.42m +[headless_play] t= 15.50s step= 775 trunk_z= 119.9mm grav_b=(+0.01,+0.04,-1.00) r=0.43m +[headless_play] t= 15.60s step= 780 trunk_z= 118.6mm grav_b=(+0.05,+0.09,-0.99) r=0.43m +[headless_play] t= 15.70s step= 785 trunk_z= 123.1mm grav_b=(+0.06,-0.02,-1.00) r=0.44m +[headless_play] t= 15.80s step= 790 trunk_z= 113.2mm grav_b=(-0.06,-0.22,-0.97) r=0.45m +[headless_play] t= 15.90s step= 795 trunk_z= 118.4mm grav_b=(-0.11,-0.07,-0.99) r=0.46m +[headless_play] t= 16.00s step= 800 trunk_z= 123.2mm grav_b=(-0.08,+0.07,-0.99) r=0.48m +[headless_play] t= 16.10s step= 805 trunk_z= 117.7mm grav_b=(-0.01,-0.08,-1.00) r=0.48m +[headless_play] t= 16.20s step= 810 trunk_z= 118.8mm grav_b=(+0.01,-0.04,-1.00) r=0.49m +[headless_play] t= 16.30s step= 815 trunk_z= 119.9mm grav_b=(-0.01,+0.11,-0.99) r=0.50m +[headless_play] t= 16.40s step= 820 trunk_z= 120.1mm grav_b=(-0.04,-0.08,-1.00) r=0.51m +[headless_play] t= 16.50s step= 825 trunk_z= 123.6mm grav_b=(-0.06,-0.10,-0.99) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 117.9mm grav_b=(-0.03,+0.09,-1.00) r=0.53m +[headless_play] t= 16.70s step= 835 trunk_z= 122.0mm grav_b=(-0.00,+0.03,-1.00) r=0.55m +[headless_play] t= 16.80s step= 840 trunk_z= 120.8mm grav_b=(+0.00,-0.08,-1.00) r=0.56m +[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(-0.03,+0.10,-0.99) r=0.57m +[headless_play] t= 17.00s step= 850 trunk_z= 121.0mm grav_b=(-0.02,+0.02,-1.00) r=0.59m +[headless_play] t= 17.10s step= 855 trunk_z= 120.1mm grav_b=(-0.02,-0.08,-1.00) r=0.60m +[headless_play] t= 17.20s step= 860 trunk_z= 117.2mm grav_b=(-0.02,+0.04,-1.00) r=0.62m +[headless_play] t= 17.30s step= 865 trunk_z= 119.7mm grav_b=(+0.00,+0.04,-1.00) r=0.64m +[headless_play] t= 17.40s step= 870 trunk_z= 109.4mm grav_b=(-0.00,-0.09,-1.00) r=0.66m +[headless_play] t= 17.50s step= 875 trunk_z= 113.8mm grav_b=(+0.03,-0.04,-1.00) r=0.67m +[headless_play] t= 17.60s step= 880 trunk_z= 111.4mm grav_b=(+0.03,+0.06,-1.00) r=0.69m +[headless_play] t= 17.70s step= 885 trunk_z= 116.1mm grav_b=(+0.04,+0.05,-1.00) r=0.71m +[headless_play] t= 17.80s step= 890 trunk_z= 108.5mm grav_b=(+0.09,-0.07,-0.99) r=0.73m +[headless_play] t= 17.90s step= 895 trunk_z= 110.7mm grav_b=(+0.14,+0.08,-0.99) r=0.77m +[headless_play] t= 18.00s step= 900 trunk_z= 120.7mm grav_b=(+0.04,+0.16,-0.99) r=0.80m +[headless_play] t= 18.10s step= 905 trunk_z= 125.3mm grav_b=(+0.01,+0.00,-1.00) r=0.83m +[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(-0.03,-0.07,-1.00) r=0.86m +[headless_play] t= 18.30s step= 915 trunk_z= 118.5mm grav_b=(-0.06,+0.07,-1.00) r=0.89m +[headless_play] t= 18.40s step= 920 trunk_z= 123.5mm grav_b=(-0.02,+0.09,-1.00) r=0.92m +[headless_play] t= 18.50s step= 925 trunk_z= 117.2mm grav_b=(+0.03,-0.03,-1.00) r=0.93m +[headless_play] t= 18.60s step= 930 trunk_z= 114.1mm grav_b=(+0.08,-0.15,-0.99) r=0.93m +[headless_play] t= 18.70s step= 935 trunk_z= 115.7mm grav_b=(+0.07,-0.08,-0.99) r=0.93m +[headless_play] t= 18.80s step= 940 trunk_z= 115.2mm grav_b=(+0.03,+0.08,-1.00) r=0.94m +[headless_play] t= 18.90s step= 945 trunk_z= 119.7mm grav_b=(-0.02,+0.03,-1.00) r=0.96m +[headless_play] t= 19.00s step= 950 trunk_z= 114.6mm grav_b=(-0.00,-0.09,-1.00) r=0.99m +[headless_play] t= 19.10s step= 955 trunk_z= 114.5mm grav_b=(+0.04,+0.04,-1.00) r=1.00m +[headless_play] t= 19.20s step= 960 trunk_z= 115.9mm grav_b=(+0.04,+0.09,-0.99) r=1.02m +[headless_play] t= 19.30s step= 965 trunk_z= 113.7mm grav_b=(+0.06,-0.01,-1.00) r=1.05m +[headless_play] t= 19.40s step= 970 trunk_z= 112.3mm grav_b=(+0.02,-0.11,-0.99) r=1.07m +[headless_play] t= 19.50s step= 975 trunk_z= 107.0mm grav_b=(+0.08,-0.03,-1.00) r=1.10m +[headless_play] t= 19.60s step= 980 trunk_z= 103.8mm grav_b=(+0.09,+0.03,-1.00) r=1.13m +[headless_play] t= 19.70s step= 985 trunk_z= 98.4mm grav_b=(+0.02,-0.15,-0.99) r=1.17m +[headless_play] t= 19.80s step= 990 trunk_z= 98.2mm grav_b=(+0.07,-0.16,-0.99) r=1.20m +[headless_play] t= 19.90s step= 995 trunk_z= 96.6mm grav_b=(+0.06,+0.02,-1.00) r=1.24m +[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=0.57m +[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(+0.00,+0.03,-1.00) r=0.57m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t12.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..3d65d45f62ea8067de4ca1c66650bd71f8afcf7d --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t12.log @@ -0,0 +1,213 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.8mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.287,-17.595,+0.149) +[headless_play] t= 0.00s step= 0 trunk_z= 121.2mm grav_b=(-0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 0.10s step= 5 trunk_z= 118.2mm grav_b=(-0.06,-0.01,-1.00) r=0.50m +[headless_play] t= 0.20s step= 10 trunk_z= 120.3mm grav_b=(-0.10,-0.06,-0.99) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 119.5mm grav_b=(-0.10,-0.00,-0.99) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 120.2mm grav_b=(-0.10,-0.04,-0.99) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 119.6mm grav_b=(-0.09,-0.01,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 120.0mm grav_b=(-0.09,-0.03,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 119.9mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 119.9mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 120.0mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 120.1mm grav_b=(-0.11,-0.02,-0.99) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 120.0mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 120.1mm grav_b=(-0.11,-0.02,-0.99) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 120.2mm grav_b=(-0.11,-0.02,-0.99) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 119.9mm grav_b=(-0.10,-0.02,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 120.0mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 119.9mm grav_b=(-0.10,-0.02,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.09,-0.02,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 119.9mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 120.0mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 120.2mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 120.2mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 120.5mm grav_b=(-0.10,-0.03,-0.99) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 120.1mm grav_b=(-0.10,-0.02,-0.99) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 120.3mm grav_b=(-0.11,-0.02,-0.99) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 119.9mm grav_b=(-0.11,-0.07,-0.99) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 119.3mm grav_b=(-0.15,+0.03,-0.99) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 120.3mm grav_b=(-0.16,+0.02,-0.99) r=0.47m +[headless_play] t= 4.00s step= 200 trunk_z= 121.7mm grav_b=(-0.11,-0.14,-0.98) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 126.8mm grav_b=(-0.17,-0.14,-0.98) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 117.8mm grav_b=(-0.11,+0.03,-0.99) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 114.4mm grav_b=(-0.13,-0.15,-0.98) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 126.4mm grav_b=(-0.15,-0.23,-0.96) r=0.44m +[headless_play] t= 4.50s step= 225 trunk_z= 133.4mm grav_b=(-0.19,-0.19,-0.96) r=0.43m +[headless_play] t= 4.60s step= 230 trunk_z= 115.1mm grav_b=(-0.32,+0.03,-0.95) r=0.43m +[headless_play] t= 4.70s step= 235 trunk_z= 98.5mm grav_b=(-0.55,-0.14,-0.82) r=0.42m +[headless_play] RESET at t= 4.80s step= 240 (env termination, not a recovery) +[headless_play] t= 4.80s step= 240 trunk_z= 124.0mm grav_b=(+0.00,+0.00,-1.00) r=0.35m +[headless_play] t= 4.90s step= 245 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00) r=0.34m +[headless_play] t= 5.00s step= 250 trunk_z= 117.0mm grav_b=(-0.04,+0.02,-1.00) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 116.2mm grav_b=(-0.09,-0.06,-0.99) r=0.31m +[headless_play] t= 5.20s step= 260 trunk_z= 116.4mm grav_b=(-0.17,+0.01,-0.99) r=0.30m +[headless_play] t= 5.30s step= 265 trunk_z= 105.0mm grav_b=(-0.10,+0.07,-0.99) r=0.29m +[headless_play] t= 5.40s step= 270 trunk_z= 102.6mm grav_b=(+0.01,-0.06,-1.00) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 117.0mm grav_b=(-0.04,-0.10,-0.99) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(-0.08,+0.05,-1.00) r=0.25m +[headless_play] t= 5.70s step= 285 trunk_z= 118.0mm grav_b=(-0.09,-0.05,-1.00) r=0.23m +[headless_play] t= 5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.09,-0.07,-0.99) r=0.22m +[headless_play] t= 5.90s step= 295 trunk_z= 116.2mm grav_b=(-0.08,+0.07,-0.99) r=0.21m +[headless_play] t= 6.00s step= 300 trunk_z= 117.2mm grav_b=(-0.08,-0.03,-1.00) r=0.21m +[headless_play] t= 6.10s step= 305 trunk_z= 114.7mm grav_b=(-0.04,-0.11,-0.99) r=0.19m +[headless_play] t= 6.20s step= 310 trunk_z= 116.0mm grav_b=(-0.01,+0.01,-1.00) r=0.19m +[headless_play] t= 6.30s step= 315 trunk_z= 117.6mm grav_b=(-0.04,+0.05,-1.00) r=0.20m +[headless_play] t= 6.40s step= 320 trunk_z= 114.9mm grav_b=(-0.08,-0.13,-0.99) r=0.21m +[headless_play] t= 6.50s step= 325 trunk_z= 118.5mm grav_b=(-0.04,-0.03,-1.00) r=0.22m +[headless_play] t= 6.60s step= 330 trunk_z= 116.7mm grav_b=(-0.07,+0.04,-1.00) r=0.23m +[headless_play] t= 6.70s step= 335 trunk_z= 114.7mm grav_b=(-0.09,-0.10,-0.99) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.26m +[headless_play] t= 6.90s step= 345 trunk_z= 116.0mm grav_b=(-0.05,+0.07,-1.00) r=0.28m +[headless_play] t= 7.00s step= 350 trunk_z= 114.9mm grav_b=(-0.07,-0.07,-1.00) r=0.30m +[headless_play] t= 7.10s step= 355 trunk_z= 117.6mm grav_b=(-0.04,-0.04,-1.00) r=0.31m +[headless_play] t= 7.20s step= 360 trunk_z= 114.4mm grav_b=(-0.03,+0.10,-0.99) r=0.33m +[headless_play] t= 7.30s step= 365 trunk_z= 116.9mm grav_b=(-0.08,-0.03,-1.00) r=0.35m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.07,-0.03,-1.00) r=0.37m +[headless_play] t= 7.50s step= 375 trunk_z= 116.4mm grav_b=(-0.07,+0.05,-1.00) r=0.39m +[headless_play] t= 7.60s step= 380 trunk_z= 117.1mm grav_b=(-0.08,-0.01,-1.00) r=0.40m +[headless_play] t= 7.70s step= 385 trunk_z= 113.2mm grav_b=(-0.04,-0.09,-1.00) r=0.41m +[headless_play] t= 7.80s step= 390 trunk_z= 118.3mm grav_b=(-0.02,-0.04,-1.00) r=0.43m +[headless_play] t= 7.90s step= 395 trunk_z= 118.3mm grav_b=(-0.06,+0.07,-1.00) r=0.45m +[headless_play] t= 8.00s step= 400 trunk_z= 117.2mm grav_b=(-0.07,-0.04,-1.00) r=0.47m +[headless_play] t= 8.10s step= 405 trunk_z= 118.9mm grav_b=(-0.07,-0.07,-0.99) r=0.48m +[headless_play] t= 8.20s step= 410 trunk_z= 113.4mm grav_b=(-0.04,+0.05,-1.00) r=0.50m +[headless_play] t= 8.30s step= 415 trunk_z= 118.1mm grav_b=(-0.08,-0.01,-1.00) r=0.52m +[headless_play] t= 8.40s step= 420 trunk_z= 116.2mm grav_b=(-0.07,-0.07,-1.00) r=0.53m +[headless_play] t= 8.50s step= 425 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) r=0.54m +[headless_play] t= 8.60s step= 430 trunk_z= 115.8mm grav_b=(-0.05,+0.03,-1.00) r=0.57m +[headless_play] t= 8.70s step= 435 trunk_z= 114.6mm grav_b=(-0.03,-0.06,-1.00) r=0.58m +[headless_play] t= 8.80s step= 440 trunk_z= 113.3mm grav_b=(-0.00,-0.11,-0.99) r=0.59m +[headless_play] t= 8.90s step= 445 trunk_z= 118.8mm grav_b=(-0.10,+0.05,-0.99) r=0.60m +[headless_play] t= 9.00s step= 450 trunk_z= 127.4mm grav_b=(-0.08,+0.08,-0.99) r=0.62m +[headless_play] t= 9.10s step= 455 trunk_z= 120.8mm grav_b=(-0.09,-0.05,-0.99) r=0.64m +[headless_play] t= 9.20s step= 460 trunk_z= 124.4mm grav_b=(-0.13,-0.11,-0.99) r=0.66m +[headless_play] t= 9.30s step= 465 trunk_z= 117.8mm grav_b=(-0.14,+0.07,-0.99) r=0.68m +[headless_play] t= 9.40s step= 470 trunk_z= 122.9mm grav_b=(-0.12,+0.04,-0.99) r=0.69m +[headless_play] t= 9.50s step= 475 trunk_z= 119.2mm grav_b=(-0.12,-0.13,-0.98) r=0.70m +[headless_play] t= 9.60s step= 480 trunk_z= 125.5mm grav_b=(-0.10,-0.07,-0.99) r=0.70m +[headless_play] t= 9.70s step= 485 trunk_z= 122.2mm grav_b=(-0.08,+0.11,-0.99) r=0.70m +[headless_play] t= 9.80s step= 490 trunk_z= 127.5mm grav_b=(-0.11,+0.08,-0.99) r=0.70m +[headless_play] t= 9.90s step= 495 trunk_z= 119.7mm grav_b=(-0.07,-0.05,-1.00) r=0.72m +[headless_play] t= 10.00s step= 500 trunk_z= 122.5mm grav_b=(-0.07,-0.04,-1.00) r=0.74m +[headless_play] t= 10.10s step= 505 trunk_z= 115.1mm grav_b=(-0.06,+0.08,-1.00) r=0.75m +[headless_play] t= 10.20s step= 510 trunk_z= 121.0mm grav_b=(-0.13,-0.04,-0.99) r=0.77m +[headless_play] t= 10.30s step= 515 trunk_z= 102.1mm grav_b=(-0.16,-0.28,-0.95) r=0.80m +[headless_play] t= 10.40s step= 520 trunk_z= 114.6mm grav_b=(-0.28,-0.41,-0.87) r=0.83m +[headless_play] t= 10.50s step= 525 trunk_z= 88.4mm grav_b=(-0.52,+0.12,-0.85) r=0.85m +[headless_play] RESET at t= 10.60s step= 530 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 121.8mm grav_b=(-0.00,+0.00,-1.00) r=0.40m +[headless_play] t= 10.70s step= 535 trunk_z= 116.3mm grav_b=(-0.02,+0.01,-1.00) r=0.39m +[headless_play] t= 10.80s step= 540 trunk_z= 117.4mm grav_b=(-0.04,+0.00,-1.00) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 117.6mm grav_b=(-0.08,-0.00,-1.00) r=0.40m +[headless_play] t= 11.00s step= 550 trunk_z= 117.7mm grav_b=(-0.08,-0.00,-1.00) r=0.40m +[headless_play] t= 11.10s step= 555 trunk_z= 117.7mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 11.20s step= 560 trunk_z= 117.8mm grav_b=(-0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 11.30s step= 565 trunk_z= 117.9mm grav_b=(-0.04,-0.00,-1.00) r=0.40m +[headless_play] t= 11.40s step= 570 trunk_z= 118.0mm grav_b=(-0.05,-0.00,-1.00) r=0.40m +[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(-0.06,-0.00,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 118.1mm grav_b=(-0.06,-0.00,-1.00) r=0.40m +[headless_play] t= 11.70s step= 585 trunk_z= 118.0mm grav_b=(-0.06,-0.00,-1.00) r=0.40m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(-0.06,-0.00,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.00s step= 600 trunk_z= 117.9mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.10s step= 605 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.20s step= 610 trunk_z= 118.1mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.30s step= 615 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.40s step= 620 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.50s step= 625 trunk_z= 118.1mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.70s step= 635 trunk_z= 118.0mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.80s step= 640 trunk_z= 117.8mm grav_b=(-0.07,-0.00,-1.00) r=0.40m +[headless_play] t= 12.90s step= 645 trunk_z= 118.7mm grav_b=(-0.19,-0.00,-0.98) r=0.42m +[headless_play] t= 13.00s step= 650 trunk_z= 110.6mm grav_b=(-0.22,+0.10,-0.97) r=0.43m +[headless_play] t= 13.10s step= 655 trunk_z= 83.0mm grav_b=(-0.05,+0.14,-0.99) r=0.44m +[headless_play] t= 13.20s step= 660 trunk_z= 95.9mm grav_b=(-0.02,-0.02,-1.00) r=0.46m +[headless_play] t= 13.30s step= 665 trunk_z= 114.6mm grav_b=(-0.14,-0.01,-0.99) r=0.47m +[headless_play] t= 13.40s step= 670 trunk_z= 116.9mm grav_b=(-0.17,-0.01,-0.99) r=0.48m +[headless_play] t= 13.50s step= 675 trunk_z= 117.7mm grav_b=(-0.19,+0.04,-0.98) r=0.48m +[headless_play] t= 13.60s step= 680 trunk_z= 98.4mm grav_b=(-0.14,+0.19,-0.97) r=0.49m +[headless_play] t= 13.70s step= 685 trunk_z= 100.5mm grav_b=(+0.02,-0.04,-1.00) r=0.49m +[headless_play] t= 13.80s step= 690 trunk_z= 116.6mm grav_b=(-0.06,-0.00,-1.00) r=0.50m +[headless_play] t= 13.90s step= 695 trunk_z= 118.9mm grav_b=(-0.18,+0.12,-0.98) r=0.49m +[headless_play] t= 14.00s step= 700 trunk_z= 116.6mm grav_b=(-0.16,+0.03,-0.99) r=0.48m +[headless_play] t= 14.10s step= 705 trunk_z= 111.7mm grav_b=(+0.00,+0.16,-0.99) r=0.48m +[headless_play] t= 14.20s step= 710 trunk_z= 113.7mm grav_b=(-0.07,+0.02,-1.00) r=0.49m +[headless_play] t= 14.30s step= 715 trunk_z= 116.1mm grav_b=(-0.15,+0.02,-0.99) r=0.49m +[headless_play] t= 14.40s step= 720 trunk_z= 117.1mm grav_b=(-0.16,+0.01,-0.99) r=0.49m +[headless_play] t= 14.50s step= 725 trunk_z= 117.3mm grav_b=(-0.19,+0.01,-0.98) r=0.50m +[headless_play] t= 14.60s step= 730 trunk_z= 108.0mm grav_b=(-0.20,+0.04,-0.98) r=0.50m +[headless_play] t= 14.70s step= 735 trunk_z= 102.4mm grav_b=(-0.13,-0.18,-0.98) r=0.51m +[headless_play] t= 14.80s step= 740 trunk_z= 93.7mm grav_b=(+0.08,-0.33,-0.94) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 107.1mm grav_b=(+0.01,-0.03,-1.00) r=0.53m +[headless_play] t= 15.00s step= 750 trunk_z= 123.9mm grav_b=(-0.12,+0.04,-0.99) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 117.7mm grav_b=(-0.15,-0.01,-0.99) r=0.51m +[headless_play] t= 15.20s step= 760 trunk_z= 117.8mm grav_b=(-0.10,+0.06,-0.99) r=0.51m +[headless_play] t= 15.30s step= 765 trunk_z= 117.5mm grav_b=(-0.10,+0.02,-0.99) r=0.51m +[headless_play] t= 15.40s step= 770 trunk_z= 118.1mm grav_b=(-0.06,+0.02,-1.00) r=0.50m +[headless_play] t= 15.50s step= 775 trunk_z= 118.4mm grav_b=(-0.04,+0.02,-1.00) r=0.50m +[headless_play] t= 15.60s step= 780 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 15.70s step= 785 trunk_z= 118.5mm grav_b=(-0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 15.80s step= 790 trunk_z= 118.5mm grav_b=(-0.08,+0.01,-1.00) r=0.50m +[headless_play] t= 15.90s step= 795 trunk_z= 118.5mm grav_b=(-0.08,+0.01,-1.00) r=0.50m +[headless_play] t= 16.00s step= 800 trunk_z= 118.6mm grav_b=(-0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 16.10s step= 805 trunk_z= 118.6mm grav_b=(-0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 16.20s step= 810 trunk_z= 118.7mm grav_b=(-0.12,+0.01,-0.99) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 119.4mm grav_b=(-0.12,+0.00,-0.99) r=0.52m +[headless_play] t= 16.40s step= 820 trunk_z= 119.4mm grav_b=(-0.13,+0.01,-0.99) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 119.3mm grav_b=(-0.14,+0.01,-0.99) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 119.1mm grav_b=(-0.15,+0.02,-0.99) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 119.0mm grav_b=(-0.17,+0.02,-0.99) r=0.53m +[headless_play] t= 16.80s step= 840 trunk_z= 117.9mm grav_b=(-0.19,+0.05,-0.98) r=0.53m +[headless_play] t= 16.90s step= 845 trunk_z= 102.5mm grav_b=(-0.20,-0.01,-0.98) r=0.53m +[headless_play] t= 17.00s step= 850 trunk_z= 84.8mm grav_b=(-0.22,-0.30,-0.93) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 80.9mm grav_b=(-0.42,-0.05,-0.91) r=0.54m +[headless_play] t= 17.20s step= 860 trunk_z= 73.4mm grav_b=(-0.47,-0.34,-0.82) r=0.53m +[headless_play] RESET at t= 17.28s step= 864 (env termination, not a recovery) +[headless_play] t= 17.30s step= 865 trunk_z= 120.6mm grav_b=(-0.01,+0.00,-1.00) r=0.11m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(-0.04,+0.01,-1.00) r=0.11m +[headless_play] t= 17.50s step= 875 trunk_z= 119.9mm grav_b=(-0.07,+0.04,-1.00) r=0.11m +[headless_play] t= 17.60s step= 880 trunk_z= 119.6mm grav_b=(-0.09,-0.04,-0.99) r=0.10m +[headless_play] t= 17.70s step= 885 trunk_z= 119.5mm grav_b=(-0.16,-0.10,-0.98) r=0.09m +[headless_play] t= 17.80s step= 890 trunk_z= 118.8mm grav_b=(-0.16,+0.09,-0.98) r=0.07m +[headless_play] t= 17.90s step= 895 trunk_z= 127.1mm grav_b=(-0.10,+0.06,-0.99) r=0.06m +[headless_play] t= 18.00s step= 900 trunk_z= 117.6mm grav_b=(-0.07,-0.07,-1.00) r=0.05m +[headless_play] t= 18.10s step= 905 trunk_z= 121.6mm grav_b=(-0.14,+0.07,-0.99) r=0.03m +[headless_play] t= 18.20s step= 910 trunk_z= 118.5mm grav_b=(-0.23,+0.19,-0.95) r=0.01m +[headless_play] t= 18.30s step= 915 trunk_z= 128.0mm grav_b=(-0.15,+0.04,-0.99) r=0.01m +[headless_play] t= 18.40s step= 920 trunk_z= 113.6mm grav_b=(-0.08,-0.12,-0.99) r=0.02m +[headless_play] t= 18.50s step= 925 trunk_z= 124.8mm grav_b=(-0.03,-0.03,-1.00) r=0.04m +[headless_play] t= 18.60s step= 930 trunk_z= 114.6mm grav_b=(+0.03,+0.10,-0.99) r=0.05m +[headless_play] t= 18.70s step= 935 trunk_z= 116.0mm grav_b=(-0.29,+0.05,-0.95) r=0.05m +[headless_play] t= 18.80s step= 940 trunk_z= 105.6mm grav_b=(-0.33,-0.08,-0.94) r=0.04m +[headless_play] t= 18.90s step= 945 trunk_z= 101.8mm grav_b=(-0.37,-0.02,-0.93) r=0.03m +[headless_play] t= 19.00s step= 950 trunk_z= 79.1mm grav_b=(-0.37,-0.08,-0.92) r=0.03m +[headless_play] t= 19.10s step= 955 trunk_z= 58.0mm grav_b=(-0.47,-0.39,-0.79) r=0.04m +[headless_play] t= 19.20s step= 960 trunk_z= 48.0mm grav_b=(-0.68,-0.03,-0.74) r=0.05m +[headless_play] RESET at t= 19.26s step= 963 (env termination, not a recovery) +[headless_play] t= 19.30s step= 965 trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) r=0.48m +[headless_play] t= 19.40s step= 970 trunk_z= 118.4mm grav_b=(-0.04,-0.04,-1.00) r=0.49m +[headless_play] t= 19.50s step= 975 trunk_z= 118.3mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 19.60s step= 980 trunk_z= 118.6mm grav_b=(-0.06,-0.04,-1.00) r=0.50m +[headless_play] t= 19.70s step= 985 trunk_z= 118.6mm grav_b=(-0.06,-0.10,-0.99) r=0.51m +[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.07,+0.02,-1.00) r=0.52m +[headless_play] t= 19.90s step= 995 trunk_z= 119.0mm grav_b=(-0.08,+0.01,-1.00) r=0.53m +[headless_play] t= 20.00s step=1000 trunk_z= 114.8mm grav_b=(-0.04,-0.10,-0.99) r=0.54m +[headless_play] t= 20.10s step=1005 trunk_z= 118.5mm grav_b=(-0.03,-0.08,-1.00) r=0.55m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t13.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..0abfd9edf41ae8a6fc57a04d1e1a306c064f09d1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t13.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.6mm grav_b=(+0.00,+0.00,-1.00) root_w=(-6.325,-18.304,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.0mm grav_b=(-0.01,-0.00,-1.00) r=0.45m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 116.4mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 3.00s step= 150 trunk_z= 116.7mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 116.6mm grav_b=(+0.03,-0.00,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00) r=0.45m +[headless_play] t= 3.40s step= 170 trunk_z= 116.9mm grav_b=(+0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 117.2mm grav_b=(+0.02,-0.00,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 117.4mm grav_b=(+0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 117.5mm grav_b=(-0.01,+0.01,-1.00) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 117.6mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 117.6mm grav_b=(+0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 117.7mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 117.5mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.01,-0.00,-1.00) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 117.6mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 6.00s step= 300 trunk_z= 118.0mm grav_b=(+0.01,-0.01,-1.00) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 117.7mm grav_b=(-0.00,-0.00,-1.00) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.46m +[headless_play] t= 6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00) r=0.46m +[headless_play] t= 6.40s step= 320 trunk_z= 117.2mm grav_b=(+0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 6.50s step= 325 trunk_z= 117.3mm grav_b=(+0.07,-0.00,-1.00) r=0.45m +[headless_play] t= 6.60s step= 330 trunk_z= 117.3mm grav_b=(+0.06,-0.01,-1.00) r=0.45m +[headless_play] t= 6.70s step= 335 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 6.80s step= 340 trunk_z= 115.3mm grav_b=(+0.04,+0.08,-1.00) r=0.44m +[headless_play] t= 6.90s step= 345 trunk_z= 115.0mm grav_b=(+0.12,-0.00,-0.99) r=0.43m +[headless_play] t= 7.00s step= 350 trunk_z= 112.3mm grav_b=(+0.12,-0.05,-0.99) r=0.42m +[headless_play] t= 7.10s step= 355 trunk_z= 114.1mm grav_b=(+0.05,+0.12,-0.99) r=0.40m +[headless_play] t= 7.20s step= 360 trunk_z= 118.7mm grav_b=(+0.07,+0.08,-0.99) r=0.39m +[headless_play] t= 7.30s step= 365 trunk_z= 112.9mm grav_b=(+0.10,-0.04,-0.99) r=0.37m +[headless_play] t= 7.40s step= 370 trunk_z= 112.9mm grav_b=(+0.09,+0.09,-0.99) r=0.36m +[headless_play] t= 7.50s step= 375 trunk_z= 118.9mm grav_b=(+0.10,+0.11,-0.99) r=0.34m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.04,-0.04,-1.00) r=0.33m +[headless_play] t= 7.70s step= 385 trunk_z= 113.6mm grav_b=(-0.02,+0.10,-0.99) r=0.35m +[headless_play] t= 7.80s step= 390 trunk_z= 119.1mm grav_b=(+0.05,+0.13,-0.99) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 114.4mm grav_b=(+0.17,+0.04,-0.99) r=0.37m +[headless_play] t= 8.00s step= 400 trunk_z= 109.6mm grav_b=(+0.19,+0.00,-0.98) r=0.38m +[headless_play] t= 8.10s step= 405 trunk_z= 111.4mm grav_b=(+0.16,+0.14,-0.98) r=0.37m +[headless_play] t= 8.20s step= 410 trunk_z= 123.6mm grav_b=(+0.09,+0.07,-0.99) r=0.37m +[headless_play] t= 8.30s step= 415 trunk_z= 117.0mm grav_b=(+0.05,-0.06,-1.00) r=0.36m +[headless_play] t= 8.40s step= 420 trunk_z= 114.8mm grav_b=(+0.03,+0.05,-1.00) r=0.35m +[headless_play] t= 8.50s step= 425 trunk_z= 118.7mm grav_b=(+0.05,+0.07,-1.00) r=0.33m +[headless_play] t= 8.60s step= 430 trunk_z= 114.7mm grav_b=(+0.13,+0.00,-0.99) r=0.33m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(+0.17,-0.02,-0.99) r=0.33m +[headless_play] t= 8.80s step= 440 trunk_z= 114.7mm grav_b=(+0.13,+0.15,-0.98) r=0.32m +[headless_play] t= 8.90s step= 445 trunk_z= 119.9mm grav_b=(+0.05,+0.02,-1.00) r=0.32m +[headless_play] t= 9.00s step= 450 trunk_z= 119.1mm grav_b=(+0.03,-0.04,-1.00) r=0.32m +[headless_play] t= 9.10s step= 455 trunk_z= 116.1mm grav_b=(+0.09,+0.07,-0.99) r=0.31m +[headless_play] t= 9.20s step= 460 trunk_z= 118.0mm grav_b=(+0.12,+0.06,-0.99) r=0.30m +[headless_play] t= 9.30s step= 465 trunk_z= 116.1mm grav_b=(+0.11,-0.04,-0.99) r=0.30m +[headless_play] t= 9.40s step= 470 trunk_z= 113.0mm grav_b=(+0.06,+0.08,-1.00) r=0.30m +[headless_play] t= 9.50s step= 475 trunk_z= 118.9mm grav_b=(+0.06,+0.06,-1.00) r=0.29m +[headless_play] t= 9.60s step= 480 trunk_z= 113.5mm grav_b=(+0.09,-0.06,-0.99) r=0.30m +[headless_play] t= 9.70s step= 485 trunk_z= 113.7mm grav_b=(+0.06,+0.05,-1.00) r=0.30m +[headless_play] t= 9.80s step= 490 trunk_z= 117.2mm grav_b=(+0.05,+0.17,-0.98) r=0.29m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.06,+0.07,-1.00) r=0.29m +[headless_play] t= 10.00s step= 500 trunk_z= 112.6mm grav_b=(+0.10,-0.09,-0.99) r=0.30m +[headless_play] t= 10.10s step= 505 trunk_z= 110.8mm grav_b=(+0.09,+0.14,-0.99) r=0.31m +[headless_play] t= 10.20s step= 510 trunk_z= 121.4mm grav_b=(+0.13,+0.14,-0.98) r=0.32m +[headless_play] t= 10.30s step= 515 trunk_z= 111.7mm grav_b=(+0.04,-0.05,-1.00) r=0.33m +[headless_play] t= 10.40s step= 520 trunk_z= 115.7mm grav_b=(+0.04,+0.07,-1.00) r=0.35m +[headless_play] t= 10.50s step= 525 trunk_z= 116.9mm grav_b=(+0.10,+0.12,-0.99) r=0.35m +[headless_play] t= 10.60s step= 530 trunk_z= 110.8mm grav_b=(+0.06,-0.09,-0.99) r=0.37m +[headless_play] t= 10.70s step= 535 trunk_z= 113.0mm grav_b=(+0.07,+0.04,-1.00) r=0.38m +[headless_play] t= 10.80s step= 540 trunk_z= 115.8mm grav_b=(+0.08,+0.13,-0.99) r=0.40m +[headless_play] t= 10.90s step= 545 trunk_z= 110.4mm grav_b=(+0.08,-0.07,-0.99) r=0.41m +[headless_play] t= 11.00s step= 550 trunk_z= 115.0mm grav_b=(+0.08,+0.03,-1.00) r=0.41m +[headless_play] t= 11.10s step= 555 trunk_z= 119.1mm grav_b=(+0.07,+0.12,-0.99) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 113.7mm grav_b=(+0.06,-0.03,-1.00) r=0.44m +[headless_play] t= 11.30s step= 565 trunk_z= 113.7mm grav_b=(+0.07,+0.04,-1.00) r=0.45m +[headless_play] t= 11.40s step= 570 trunk_z= 119.3mm grav_b=(-0.02,+0.14,-0.99) r=0.42m +[headless_play] t= 11.50s step= 575 trunk_z= 117.4mm grav_b=(+0.01,+0.03,-1.00) r=0.40m +[headless_play] t= 11.60s step= 580 trunk_z= 109.8mm grav_b=(+0.08,+0.02,-1.00) r=0.39m +[headless_play] t= 11.70s step= 585 trunk_z= 113.6mm grav_b=(+0.08,+0.12,-0.99) r=0.39m +[headless_play] t= 11.80s step= 590 trunk_z= 112.5mm grav_b=(+0.07,-0.05,-1.00) r=0.40m +[headless_play] t= 11.90s step= 595 trunk_z= 112.0mm grav_b=(+0.05,+0.09,-0.99) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 116.9mm grav_b=(+0.07,+0.12,-0.99) r=0.42m +[headless_play] t= 12.10s step= 605 trunk_z= 109.6mm grav_b=(+0.07,-0.05,-1.00) r=0.43m +[headless_play] t= 12.20s step= 610 trunk_z= 111.5mm grav_b=(+0.06,+0.12,-0.99) r=0.45m +[headless_play] t= 12.30s step= 615 trunk_z= 115.1mm grav_b=(+0.08,+0.07,-0.99) r=0.46m +[headless_play] t= 12.40s step= 620 trunk_z= 112.2mm grav_b=(+0.08,-0.02,-1.00) r=0.47m +[headless_play] t= 12.50s step= 625 trunk_z= 113.3mm grav_b=(+0.06,+0.13,-0.99) r=0.48m +[headless_play] t= 12.60s step= 630 trunk_z= 113.7mm grav_b=(+0.07,+0.01,-1.00) r=0.50m +[headless_play] t= 12.70s step= 635 trunk_z= 113.6mm grav_b=(+0.07,+0.01,-1.00) r=0.51m +[headless_play] t= 12.80s step= 640 trunk_z= 115.7mm grav_b=(+0.04,+0.14,-0.99) r=0.52m +[headless_play] t= 12.90s step= 645 trunk_z= 113.5mm grav_b=(+0.07,+0.02,-1.00) r=0.53m +[headless_play] t= 13.00s step= 650 trunk_z= 112.9mm grav_b=(+0.09,+0.00,-1.00) r=0.55m +[headless_play] t= 13.10s step= 655 trunk_z= 116.5mm grav_b=(+0.06,+0.11,-0.99) r=0.56m +[headless_play] t= 13.20s step= 660 trunk_z= 110.8mm grav_b=(+0.07,-0.03,-1.00) r=0.58m +[headless_play] t= 13.30s step= 665 trunk_z= 112.8mm grav_b=(+0.08,+0.07,-0.99) r=0.59m +[headless_play] t= 13.40s step= 670 trunk_z= 116.2mm grav_b=(+0.07,+0.10,-0.99) r=0.60m +[headless_play] t= 13.50s step= 675 trunk_z= 109.7mm grav_b=(+0.06,-0.06,-1.00) r=0.62m +[headless_play] t= 13.60s step= 680 trunk_z= 112.1mm grav_b=(+0.08,+0.10,-0.99) r=0.63m +[headless_play] t= 13.70s step= 685 trunk_z= 115.1mm grav_b=(+0.06,+0.08,-0.99) r=0.64m +[headless_play] t= 13.80s step= 690 trunk_z= 112.1mm grav_b=(+0.06,-0.02,-1.00) r=0.66m +[headless_play] t= 13.90s step= 695 trunk_z= 112.0mm grav_b=(+0.07,+0.14,-0.99) r=0.67m +[headless_play] t= 14.00s step= 700 trunk_z= 117.6mm grav_b=(+0.12,+0.10,-0.99) r=0.68m +[headless_play] t= 14.10s step= 705 trunk_z= 115.9mm grav_b=(+0.05,-0.08,-1.00) r=0.69m +[headless_play] t= 14.20s step= 710 trunk_z= 118.7mm grav_b=(+0.01,+0.02,-1.00) r=0.69m +[headless_play] t= 14.30s step= 715 trunk_z= 122.8mm grav_b=(+0.05,+0.04,-1.00) r=0.71m +[headless_play] t= 14.40s step= 720 trunk_z= 120.1mm grav_b=(+0.03,-0.10,-0.99) r=0.73m +[headless_play] t= 14.50s step= 725 trunk_z= 118.2mm grav_b=(+0.05,+0.03,-1.00) r=0.74m +[headless_play] t= 14.60s step= 730 trunk_z= 119.3mm grav_b=(+0.07,+0.03,-1.00) r=0.74m +[headless_play] t= 14.70s step= 735 trunk_z= 120.2mm grav_b=(+0.09,+0.01,-1.00) r=0.74m +[headless_play] t= 14.80s step= 740 trunk_z= 120.8mm grav_b=(+0.10,-0.02,-0.99) r=0.75m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(+0.06,+0.07,-1.00) r=0.75m +[headless_play] t= 15.00s step= 750 trunk_z= 120.1mm grav_b=(+0.02,+0.03,-1.00) r=0.76m +[headless_play] t= 15.10s step= 755 trunk_z= 113.0mm grav_b=(+0.01,-0.06,-1.00) r=0.80m +[headless_play] t= 15.20s step= 760 trunk_z= 118.6mm grav_b=(+0.09,+0.01,-1.00) r=0.83m +[headless_play] t= 15.30s step= 765 trunk_z= 123.3mm grav_b=(+0.13,-0.05,-0.99) r=0.84m +[headless_play] t= 15.40s step= 770 trunk_z= 105.9mm grav_b=(+0.03,-0.12,-0.99) r=0.86m +[headless_play] t= 15.50s step= 775 trunk_z= 114.0mm grav_b=(+0.05,-0.10,-0.99) r=0.88m +[headless_play] t= 15.60s step= 780 trunk_z= 114.6mm grav_b=(+0.04,+0.03,-1.00) r=0.90m +[headless_play] t= 15.70s step= 785 trunk_z= 118.9mm grav_b=(+0.03,-0.03,-1.00) r=0.91m +[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(+0.04,-0.06,-1.00) r=0.92m +[headless_play] t= 15.90s step= 795 trunk_z= 101.5mm grav_b=(-0.09,-0.27,-0.96) r=0.94m +[headless_play] t= 16.00s step= 800 trunk_z= 106.8mm grav_b=(+0.05,-0.34,-0.94) r=0.95m +[headless_play] t= 16.10s step= 805 trunk_z= 106.2mm grav_b=(-0.02,-0.11,-0.99) r=0.96m +[headless_play] t= 16.20s step= 810 trunk_z= 100.1mm grav_b=(+0.20,-0.13,-0.97) r=0.98m +[headless_play] t= 16.30s step= 815 trunk_z= 86.6mm grav_b=(+0.21,-0.16,-0.96) r=1.00m +[headless_play] t= 16.40s step= 820 trunk_z= 87.3mm grav_b=(+0.10,+0.10,-0.99) r=1.02m +[headless_play] t= 16.50s step= 825 trunk_z= 75.4mm grav_b=(+0.03,-0.16,-0.99) r=1.04m +[headless_play] t= 16.60s step= 830 trunk_z= 100.4mm grav_b=(+0.00,-0.10,-1.00) r=1.07m +[headless_play] t= 16.70s step= 835 trunk_z= 91.3mm grav_b=(+0.01,+0.11,-0.99) r=1.09m +[headless_play] t= 16.80s step= 840 trunk_z= 95.4mm grav_b=(+0.01,-0.04,-1.00) r=1.11m +[headless_play] t= 16.90s step= 845 trunk_z= 88.5mm grav_b=(-0.02,-0.10,-0.99) r=1.13m +[headless_play] t= 17.00s step= 850 trunk_z= 89.0mm grav_b=(+0.04,-0.03,-1.00) r=1.15m +[headless_play] t= 17.10s step= 855 trunk_z= 90.1mm grav_b=(+0.04,-0.05,-1.00) r=1.15m +[headless_play] t= 17.20s step= 860 trunk_z= 90.0mm grav_b=(+0.03,-0.05,-1.00) r=1.15m +[headless_play] t= 17.30s step= 865 trunk_z= 90.5mm grav_b=(+0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 17.40s step= 870 trunk_z= 91.0mm grav_b=(+0.02,-0.03,-1.00) r=1.15m +[headless_play] t= 17.50s step= 875 trunk_z= 91.1mm grav_b=(+0.02,-0.03,-1.00) r=1.15m +[headless_play] t= 17.60s step= 880 trunk_z= 91.1mm grav_b=(+0.02,-0.03,-1.00) r=1.15m +[headless_play] t= 17.70s step= 885 trunk_z= 91.1mm grav_b=(+0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 17.80s step= 890 trunk_z= 91.2mm grav_b=(+0.01,-0.03,-1.00) r=1.15m +[headless_play] t= 17.90s step= 895 trunk_z= 91.3mm grav_b=(+0.01,-0.03,-1.00) r=1.15m +[headless_play] t= 18.00s step= 900 trunk_z= 91.3mm grav_b=(+0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 18.10s step= 905 trunk_z= 91.4mm grav_b=(+0.01,-0.04,-1.00) r=1.15m +[headless_play] t= 18.20s step= 910 trunk_z= 91.6mm grav_b=(+0.01,-0.03,-1.00) r=1.15m +[headless_play] t= 18.30s step= 915 trunk_z= 91.7mm grav_b=(+0.03,-0.03,-1.00) r=1.15m +[headless_play] t= 18.40s step= 920 trunk_z= 91.8mm grav_b=(+0.06,-0.03,-1.00) r=1.15m +[headless_play] t= 18.50s step= 925 trunk_z= 91.8mm grav_b=(+0.05,-0.03,-1.00) r=1.15m +[headless_play] t= 18.60s step= 930 trunk_z= 91.9mm grav_b=(+0.05,-0.03,-1.00) r=1.15m +[headless_play] t= 18.70s step= 935 trunk_z= 92.1mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 18.80s step= 940 trunk_z= 92.1mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 18.90s step= 945 trunk_z= 92.1mm grav_b=(+0.04,-0.02,-1.00) r=1.15m +[headless_play] t= 19.00s step= 950 trunk_z= 92.2mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.10s step= 955 trunk_z= 92.3mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.20s step= 960 trunk_z= 92.3mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.30s step= 965 trunk_z= 92.3mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.40s step= 970 trunk_z= 92.3mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.50s step= 975 trunk_z= 92.3mm grav_b=(+0.03,-0.02,-1.00) r=1.15m +[headless_play] t= 19.60s step= 980 trunk_z= 92.2mm grav_b=(+0.04,-0.02,-1.00) r=1.16m +[headless_play] t= 19.70s step= 985 trunk_z= 93.0mm grav_b=(+0.07,-0.03,-1.00) r=1.18m +[headless_play] t= 19.80s step= 990 trunk_z= 93.4mm grav_b=(+0.08,-0.03,-1.00) r=1.19m +[headless_play] t= 19.90s step= 995 trunk_z= 92.6mm grav_b=(+0.05,-0.04,-1.00) r=1.20m +[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=0.51m +[headless_play] t= 20.10s step=1005 trunk_z= 116.1mm grav_b=(+0.02,+0.03,-1.00) r=0.52m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t14.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..a2e7a14b0143c4742ae15bc164fd84ed81bc0ff7 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t14.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 126.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(-2.362,-18.328,+0.254) +[headless_play] t= 0.00s step= 0 trunk_z= 124.1mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 115.7mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(+0.03,-0.00,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 116.3mm grav_b=(+0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(+0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 116.4mm grav_b=(+0.00,+0.00,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 116.4mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 116.8mm grav_b=(+0.01,+0.02,-1.00) r=0.48m +[headless_play] t= 3.80s step= 190 trunk_z= 117.5mm grav_b=(+0.00,+0.03,-1.00) r=0.48m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(-0.08,+0.03,-1.00) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 118.9mm grav_b=(-0.10,+0.01,-0.99) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 108.5mm grav_b=(+0.03,-0.02,-1.00) r=0.50m +[headless_play] t= 4.20s step= 210 trunk_z= 105.7mm grav_b=(+0.15,+0.10,-0.98) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(+0.06,+0.00,-1.00) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 115.5mm grav_b=(-0.00,+0.11,-0.99) r=0.51m +[headless_play] t= 4.50s step= 225 trunk_z= 113.1mm grav_b=(-0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 4.60s step= 230 trunk_z= 115.2mm grav_b=(-0.06,+0.01,-1.00) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 115.6mm grav_b=(-0.08,+0.01,-1.00) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 116.6mm grav_b=(-0.08,+0.03,-1.00) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(-0.06,+0.04,-1.00) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 117.7mm grav_b=(-0.04,+0.04,-1.00) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 117.9mm grav_b=(-0.04,+0.03,-1.00) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 118.2mm grav_b=(-0.05,+0.03,-1.00) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 119.7mm grav_b=(-0.03,+0.02,-1.00) r=0.51m +[headless_play] t= 5.40s step= 270 trunk_z= 120.6mm grav_b=(-0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 120.7mm grav_b=(+0.00,+0.02,-1.00) r=0.50m +[headless_play] t= 5.60s step= 280 trunk_z= 120.1mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 120.1mm grav_b=(-0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 5.80s step= 290 trunk_z= 120.1mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 5.90s step= 295 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.00s step= 300 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.10s step= 305 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.20s step= 310 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.40s step= 320 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.50s step= 325 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.70s step= 335 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.80s step= 340 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 6.90s step= 345 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.00s step= 350 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.10s step= 355 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.20s step= 360 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.30s step= 365 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.40s step= 370 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.50s step= 375 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00) r=0.50m +[headless_play] t= 7.60s step= 380 trunk_z= 120.8mm grav_b=(-0.03,-0.00,-1.00) r=0.50m +[headless_play] t= 7.70s step= 385 trunk_z= 120.0mm grav_b=(-0.04,+0.05,-1.00) r=0.50m +[headless_play] t= 7.80s step= 390 trunk_z= 118.6mm grav_b=(-0.01,+0.07,-1.00) r=0.49m +[headless_play] t= 7.90s step= 395 trunk_z= 115.4mm grav_b=(+0.01,-0.04,-1.00) r=0.48m +[headless_play] t= 8.00s step= 400 trunk_z= 114.6mm grav_b=(+0.04,+0.02,-1.00) r=0.49m +[headless_play] t= 8.10s step= 405 trunk_z= 116.2mm grav_b=(+0.05,+0.14,-0.99) r=0.48m +[headless_play] t= 8.20s step= 410 trunk_z= 115.3mm grav_b=(+0.00,-0.00,-1.00) r=0.48m +[headless_play] t= 8.30s step= 415 trunk_z= 116.6mm grav_b=(+0.02,+0.01,-1.00) r=0.48m +[headless_play] t= 8.40s step= 420 trunk_z= 117.3mm grav_b=(+0.03,+0.15,-0.99) r=0.48m +[headless_play] t= 8.50s step= 425 trunk_z= 117.7mm grav_b=(+0.03,+0.04,-1.00) r=0.48m +[headless_play] t= 8.60s step= 430 trunk_z= 116.5mm grav_b=(+0.02,-0.02,-1.00) r=0.49m +[headless_play] t= 8.70s step= 435 trunk_z= 114.5mm grav_b=(+0.03,+0.02,-1.00) r=0.49m +[headless_play] t= 8.80s step= 440 trunk_z= 116.7mm grav_b=(+0.12,+0.02,-0.99) r=0.50m +[headless_play] t= 8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.22,+0.15,-0.96) r=0.50m +[headless_play] t= 9.00s step= 450 trunk_z= 124.8mm grav_b=(+0.26,+0.08,-0.96) r=0.51m +[headless_play] t= 9.10s step= 455 trunk_z= 98.1mm grav_b=(+0.37,-0.06,-0.93) r=0.54m +[headless_play] t= 9.20s step= 460 trunk_z= 93.3mm grav_b=(+0.53,-0.08,-0.84) r=0.55m +[headless_play] t= 9.30s step= 465 trunk_z= 97.9mm grav_b=(+0.50,+0.15,-0.85) r=0.54m +[headless_play] t= 9.40s step= 470 trunk_z= 109.6mm grav_b=(+0.61,+0.04,-0.79) r=0.56m +[headless_play] t= 9.50s step= 475 trunk_z= 70.2mm grav_b=(+0.65,-0.09,-0.76) r=0.57m +[headless_play] t= 9.60s step= 480 trunk_z= 64.4mm grav_b=(+0.78,+0.48,-0.39) r=0.56m +[headless_play] RESET at t= 9.62s step= 481 (env termination, not a recovery) +[headless_play] t= 9.70s step= 485 trunk_z= 115.6mm grav_b=(-0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 9.80s step= 490 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 9.90s step= 495 trunk_z= 117.8mm grav_b=(+0.01,+0.02,-1.00) r=0.50m +[headless_play] t= 10.00s step= 500 trunk_z= 118.2mm grav_b=(-0.03,+0.00,-1.00) r=0.50m +[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00) r=0.50m +[headless_play] t= 10.20s step= 510 trunk_z= 117.9mm grav_b=(+0.04,+0.03,-1.00) r=0.50m +[headless_play] t= 10.30s step= 515 trunk_z= 118.3mm grav_b=(+0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 10.40s step= 520 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 10.50s step= 525 trunk_z= 117.7mm grav_b=(-0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 10.60s step= 530 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00) r=0.50m +[headless_play] t= 10.70s step= 535 trunk_z= 117.6mm grav_b=(+0.01,-0.00,-1.00) r=0.50m +[headless_play] t= 10.80s step= 540 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 10.90s step= 545 trunk_z= 118.2mm grav_b=(-0.02,+0.01,-1.00) r=0.50m +[headless_play] t= 11.00s step= 550 trunk_z= 118.1mm grav_b=(-0.02,-0.00,-1.00) r=0.50m +[headless_play] t= 11.10s step= 555 trunk_z= 118.1mm grav_b=(+0.01,-0.01,-1.00) r=0.50m +[headless_play] t= 11.20s step= 560 trunk_z= 117.8mm grav_b=(+0.01,+0.03,-1.00) r=0.50m +[headless_play] t= 11.30s step= 565 trunk_z= 118.3mm grav_b=(-0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(+0.01,-0.07,-1.00) r=0.50m +[headless_play] t= 11.50s step= 575 trunk_z= 113.9mm grav_b=(+0.08,+0.11,-0.99) r=0.50m +[headless_play] t= 11.60s step= 580 trunk_z= 120.8mm grav_b=(+0.09,+0.13,-0.99) r=0.51m +[headless_play] t= 11.70s step= 585 trunk_z= 117.9mm grav_b=(+0.05,-0.11,-0.99) r=0.51m +[headless_play] t= 11.80s step= 590 trunk_z= 122.5mm grav_b=(-0.11,-0.04,-0.99) r=0.52m +[headless_play] t= 11.90s step= 595 trunk_z= 121.0mm grav_b=(-0.13,+0.14,-0.98) r=0.54m +[headless_play] t= 12.00s step= 600 trunk_z= 123.0mm grav_b=(-0.05,+0.09,-0.99) r=0.55m +[headless_play] t= 12.10s step= 605 trunk_z= 116.1mm grav_b=(+0.04,-0.10,-0.99) r=0.54m +[headless_play] t= 12.20s step= 610 trunk_z= 118.9mm grav_b=(+0.12,+0.04,-0.99) r=0.57m +[headless_play] t= 12.30s step= 615 trunk_z= 125.8mm grav_b=(+0.18,+0.04,-0.98) r=0.60m +[headless_play] t= 12.40s step= 620 trunk_z= 99.5mm grav_b=(+0.12,+0.02,-0.99) r=0.63m +[headless_play] t= 12.50s step= 625 trunk_z= 109.0mm grav_b=(+0.08,+0.14,-0.99) r=0.66m +[headless_play] t= 12.60s step= 630 trunk_z= 103.6mm grav_b=(+0.03,+0.07,-1.00) r=0.70m +[headless_play] t= 12.70s step= 635 trunk_z= 100.3mm grav_b=(+0.06,-0.17,-0.98) r=0.73m +[headless_play] t= 12.80s step= 640 trunk_z= 101.4mm grav_b=(-0.16,+0.08,-0.98) r=0.76m +[headless_play] t= 12.90s step= 645 trunk_z= 109.8mm grav_b=(-0.09,+0.07,-0.99) r=0.79m +[headless_play] t= 13.00s step= 650 trunk_z= 121.8mm grav_b=(+0.02,-0.09,-1.00) r=0.82m +[headless_play] t= 13.10s step= 655 trunk_z= 128.2mm grav_b=(-0.05,-0.00,-1.00) r=0.84m +[headless_play] t= 13.20s step= 660 trunk_z= 122.8mm grav_b=(-0.01,+0.11,-0.99) r=0.87m +[headless_play] t= 13.30s step= 665 trunk_z= 116.9mm grav_b=(-0.03,-0.08,-1.00) r=0.89m +[headless_play] t= 13.40s step= 670 trunk_z= 119.2mm grav_b=(-0.01,+0.00,-1.00) r=0.90m +[headless_play] t= 13.50s step= 675 trunk_z= 119.6mm grav_b=(+0.02,+0.11,-0.99) r=0.92m +[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.00,-0.11,-0.99) r=0.93m +[headless_play] t= 13.70s step= 685 trunk_z= 118.2mm grav_b=(-0.02,-0.02,-1.00) r=0.94m +[headless_play] t= 13.80s step= 690 trunk_z= 119.3mm grav_b=(-0.01,+0.11,-0.99) r=0.95m +[headless_play] t= 13.90s step= 695 trunk_z= 114.5mm grav_b=(+0.01,-0.11,-0.99) r=0.97m +[headless_play] t= 14.00s step= 700 trunk_z= 114.7mm grav_b=(+0.01,+0.05,-1.00) r=0.98m +[headless_play] t= 14.10s step= 705 trunk_z= 118.5mm grav_b=(+0.03,+0.06,-1.00) r=1.00m +[headless_play] t= 14.20s step= 710 trunk_z= 115.8mm grav_b=(+0.02,-0.13,-0.99) r=1.01m +[headless_play] t= 14.30s step= 715 trunk_z= 114.3mm grav_b=(-0.03,+0.08,-1.00) r=1.02m +[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(+0.04,+0.03,-1.00) r=1.03m +[headless_play] t= 14.50s step= 725 trunk_z= 118.9mm grav_b=(+0.02,-0.13,-0.99) r=1.04m +[headless_play] t= 14.60s step= 730 trunk_z= 117.3mm grav_b=(-0.05,+0.04,-1.00) r=1.06m +[headless_play] t= 14.70s step= 735 trunk_z= 120.1mm grav_b=(-0.01,+0.08,-1.00) r=1.08m +[headless_play] t= 14.80s step= 740 trunk_z= 114.8mm grav_b=(+0.03,-0.09,-1.00) r=1.10m +[headless_play] t= 14.90s step= 745 trunk_z= 118.3mm grav_b=(+0.03,+0.01,-1.00) r=1.12m +[headless_play] t= 15.00s step= 750 trunk_z= 114.4mm grav_b=(+0.05,+0.16,-0.99) r=1.15m +[headless_play] t= 15.10s step= 755 trunk_z= 116.7mm grav_b=(+0.08,+0.04,-1.00) r=1.18m +[headless_play] t= 15.20s step= 760 trunk_z= 98.3mm grav_b=(-0.04,-0.16,-0.99) r=1.23m +[headless_play] t= 15.30s step= 765 trunk_z= 99.5mm grav_b=(-0.12,-0.09,-0.99) r=1.27m +[headless_play] t= 15.40s step= 770 trunk_z= 92.1mm grav_b=(-0.06,+0.13,-0.99) r=1.32m +[headless_play] t= 15.50s step= 775 trunk_z= 86.8mm grav_b=(+0.07,+0.03,-1.00) r=1.36m +[headless_play] t= 15.60s step= 780 trunk_z= 86.1mm grav_b=(+0.14,-0.14,-0.98) r=1.39m +[headless_play] t= 15.70s step= 785 trunk_z= 87.5mm grav_b=(+0.07,+0.09,-0.99) r=1.44m +[headless_play] t= 15.80s step= 790 trunk_z= 53.5mm grav_b=(-0.21,+0.26,-0.94) r=1.51m +[headless_play] t= 15.90s step= 795 trunk_z= 43.9mm grav_b=(-0.35,+0.09,-0.93) r=1.59m +[headless_play] t= 16.00s step= 800 trunk_z= 33.7mm grav_b=(-0.29,+0.06,-0.95) r=1.68m +[headless_play] t= 16.10s step= 805 trunk_z= 19.3mm grav_b=(-0.08,+0.13,-0.99) r=1.74m +[headless_play] t= 16.20s step= 810 trunk_z= 19.1mm grav_b=(+0.10,-0.08,-0.99) r=1.79m +[headless_play] t= 16.30s step= 815 trunk_z= 35.8mm grav_b=(+0.07,-0.13,-0.99) r=1.83m +[headless_play] t= 16.40s step= 820 trunk_z= 21.6mm grav_b=(+0.04,+0.05,-1.00) r=1.88m +[headless_play] t= 16.50s step= 825 trunk_z= 27.9mm grav_b=(-0.04,+0.06,-1.00) r=1.94m +[headless_play] t= 16.60s step= 830 trunk_z= 25.2mm grav_b=(+0.04,-0.09,-1.00) r=2.00m +[headless_play] t= 16.70s step= 835 trunk_z= 29.6mm grav_b=(+0.05,+0.03,-1.00) r=2.04m +[headless_play] t= 16.80s step= 840 trunk_z= 13.7mm grav_b=(-0.01,+0.17,-0.99) r=2.08m +[headless_play] t= 16.90s step= 845 trunk_z= 19.6mm grav_b=(+0.01,-0.02,-1.00) r=2.13m +[headless_play] t= 17.00s step= 850 trunk_z= 4.1mm grav_b=(-0.12,-0.17,-0.98) r=2.18m +[headless_play] t= 17.10s step= 855 trunk_z= 9.0mm grav_b=(-0.16,-0.11,-0.98) r=2.22m +[headless_play] t= 17.20s step= 860 trunk_z= -4.3mm grav_b=(-0.07,-0.02,-1.00) r=2.26m +[headless_play] t= 17.30s step= 865 trunk_z= -11.8mm grav_b=(+0.09,-0.11,-0.99) r=2.29m +[headless_play] t= 17.40s step= 870 trunk_z= 0.8mm grav_b=(+0.06,-0.04,-1.00) r=2.31m +[headless_play] t= 17.50s step= 875 trunk_z= 4.8mm grav_b=(+0.06,+0.04,-1.00) r=2.33m +[headless_play] t= 17.60s step= 880 trunk_z= 2.3mm grav_b=(-0.01,-0.19,-0.98) r=2.35m +[headless_play] t= 17.70s step= 885 trunk_z= 3.1mm grav_b=(-0.08,-0.10,-0.99) r=2.38m +[headless_play] t= 17.80s step= 890 trunk_z= 1.4mm grav_b=(-0.03,-0.00,-1.00) r=2.40m +[headless_play] t= 17.90s step= 895 trunk_z= 1.6mm grav_b=(+0.02,-0.11,-0.99) r=2.43m +[headless_play] t= 18.00s step= 900 trunk_z= -1.7mm grav_b=(-0.00,+0.01,-1.00) r=2.44m +[headless_play] t= 18.10s step= 905 trunk_z= 0.1mm grav_b=(-0.01,-0.13,-0.99) r=2.46m +[headless_play] t= 18.20s step= 910 trunk_z= -2.4mm grav_b=(-0.04,-0.03,-1.00) r=2.48m +[headless_play] t= 18.30s step= 915 trunk_z= 0.8mm grav_b=(+0.00,-0.06,-1.00) r=2.50m +[headless_play] t= 18.40s step= 920 trunk_z= 3.7mm grav_b=(+0.02,-0.16,-0.99) r=2.52m +[headless_play] t= 18.50s step= 925 trunk_z= 4.8mm grav_b=(+0.01,-0.06,-1.00) r=2.53m +[headless_play] t= 18.60s step= 930 trunk_z= 0.0mm grav_b=(-0.01,+0.01,-1.00) r=2.53m +[headless_play] t= 18.70s step= 935 trunk_z= -3.5mm grav_b=(-0.06,-0.13,-0.99) r=2.54m +[headless_play] t= 18.80s step= 940 trunk_z= -1.8mm grav_b=(+0.05,-0.06,-1.00) r=2.56m +[headless_play] t= 18.90s step= 945 trunk_z= -2.8mm grav_b=(+0.02,+0.11,-0.99) r=2.57m +[headless_play] t= 19.00s step= 950 trunk_z= -0.8mm grav_b=(-0.02,-0.01,-1.00) r=2.59m +[headless_play] t= 19.10s step= 955 trunk_z= -2.4mm grav_b=(-0.02,-0.17,-0.99) r=2.61m +[headless_play] t= 19.20s step= 960 trunk_z= -4.3mm grav_b=(-0.02,-0.03,-1.00) r=2.62m +[headless_play] t= 19.30s step= 965 trunk_z= -3.6mm grav_b=(+0.01,+0.01,-1.00) r=2.63m +[headless_play] t= 19.40s step= 970 trunk_z= -7.3mm grav_b=(-0.02,-0.15,-0.99) r=2.64m +[headless_play] t= 19.50s step= 975 trunk_z= -2.0mm grav_b=(+0.02,-0.09,-1.00) r=2.66m +[headless_play] t= 19.60s step= 980 trunk_z= -8.5mm grav_b=(-0.02,+0.09,-1.00) r=2.68m +[headless_play] t= 19.70s step= 985 trunk_z= -5.9mm grav_b=(-0.02,-0.02,-1.00) r=2.69m +[headless_play] t= 19.80s step= 990 trunk_z= -4.8mm grav_b=(+0.02,-0.11,-0.99) r=2.71m +[headless_play] t= 19.90s step= 995 trunk_z= -7.8mm grav_b=(-0.04,+0.07,-1.00) r=2.72m +[headless_play] t= 20.00s step=1000 trunk_z= -6.9mm grav_b=(+0.01,+0.03,-1.00) r=2.74m +[headless_play] t= 20.10s step=1005 trunk_z= -8.2mm grav_b=(-0.00,-0.14,-0.99) r=2.75m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t15.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..f1f9a23c119007a2cec7a365c676bc357ca8e61f --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t15.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 124.4mm grav_b=(-0.00,+0.00,-1.00) root_w=(-1.992,-17.802,+0.251) +[headless_play] t= 0.00s step= 0 trunk_z= 121.7mm grav_b=(-0.01,-0.00,-1.00) r=0.20m +[headless_play] t= 0.10s step= 5 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00) r=0.20m +[headless_play] t= 0.20s step= 10 trunk_z= 118.1mm grav_b=(-0.01,+0.02,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.20m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(-0.03,+0.05,-1.00) r=0.20m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) r=0.21m +[headless_play] t= 0.60s step= 30 trunk_z= 117.0mm grav_b=(-0.03,+0.00,-1.00) r=0.21m +[headless_play] t= 0.70s step= 35 trunk_z= 117.6mm grav_b=(-0.05,+0.10,-0.99) r=0.22m +[headless_play] t= 0.80s step= 40 trunk_z= 116.6mm grav_b=(-0.02,+0.03,-1.00) r=0.22m +[headless_play] t= 0.90s step= 45 trunk_z= 116.2mm grav_b=(-0.01,-0.07,-1.00) r=0.22m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 1.10s step= 55 trunk_z= 120.6mm grav_b=(-0.03,+0.11,-0.99) r=0.24m +[headless_play] t= 1.20s step= 60 trunk_z= 115.3mm grav_b=(-0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(-0.03,-0.04,-1.00) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 115.7mm grav_b=(-0.03,+0.09,-1.00) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 118.1mm grav_b=(-0.02,+0.05,-1.00) r=0.30m +[headless_play] t= 1.60s step= 80 trunk_z= 115.7mm grav_b=(-0.01,-0.08,-1.00) r=0.31m +[headless_play] t= 1.70s step= 85 trunk_z= 117.0mm grav_b=(-0.04,+0.04,-1.00) r=0.33m +[headless_play] t= 1.80s step= 90 trunk_z= 120.9mm grav_b=(-0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(-0.01,-0.03,-1.00) r=0.36m +[headless_play] t= 2.00s step= 100 trunk_z= 117.5mm grav_b=(-0.03,-0.02,-1.00) r=0.38m +[headless_play] t= 2.10s step= 105 trunk_z= 118.1mm grav_b=(-0.03,+0.11,-0.99) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 117.8mm grav_b=(-0.03,+0.05,-1.00) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 116.1mm grav_b=(-0.00,-0.04,-1.00) r=0.43m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(-0.02,+0.08,-1.00) r=0.45m +[headless_play] t= 2.50s step= 125 trunk_z= 119.7mm grav_b=(-0.01,+0.10,-1.00) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(-0.03,-0.05,-1.00) r=0.48m +[headless_play] t= 2.70s step= 135 trunk_z= 116.7mm grav_b=(-0.02,+0.04,-1.00) r=0.50m +[headless_play] t= 2.80s step= 140 trunk_z= 120.5mm grav_b=(-0.02,+0.11,-0.99) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 115.4mm grav_b=(-0.01,-0.02,-1.00) r=0.53m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00) r=0.55m +[headless_play] t= 3.10s step= 155 trunk_z= 118.5mm grav_b=(-0.04,+0.12,-0.99) r=0.57m +[headless_play] t= 3.20s step= 160 trunk_z= 118.1mm grav_b=(-0.02,+0.06,-1.00) r=0.58m +[headless_play] t= 3.30s step= 165 trunk_z= 116.0mm grav_b=(-0.01,-0.05,-1.00) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(+0.00,+0.08,-1.00) r=0.62m +[headless_play] t= 3.50s step= 175 trunk_z= 120.0mm grav_b=(-0.01,+0.11,-0.99) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 115.3mm grav_b=(-0.02,-0.04,-1.00) r=0.65m +[headless_play] t= 3.70s step= 185 trunk_z= 119.8mm grav_b=(-0.02,-0.07,-1.00) r=0.67m +[headless_play] t= 3.80s step= 190 trunk_z= 112.2mm grav_b=(-0.05,+0.07,-1.00) r=0.69m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.03,+0.03,-1.00) r=0.71m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(-0.01,-0.11,-0.99) r=0.72m +[headless_play] t= 4.10s step= 205 trunk_z= 119.1mm grav_b=(+0.01,-0.09,-1.00) r=0.74m +[headless_play] t= 4.20s step= 210 trunk_z= 116.2mm grav_b=(-0.01,+0.10,-0.99) r=0.75m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00) r=0.77m +[headless_play] t= 4.40s step= 220 trunk_z= 118.5mm grav_b=(-0.02,-0.12,-0.99) r=0.79m +[headless_play] t= 4.50s step= 225 trunk_z= 115.4mm grav_b=(-0.01,+0.02,-1.00) r=0.81m +[headless_play] t= 4.60s step= 230 trunk_z= 116.9mm grav_b=(+0.00,+0.05,-1.00) r=0.83m +[headless_play] t= 4.70s step= 235 trunk_z= 115.5mm grav_b=(-0.01,-0.10,-1.00) r=0.84m +[headless_play] t= 4.80s step= 240 trunk_z= 118.4mm grav_b=(-0.02,-0.08,-1.00) r=0.86m +[headless_play] t= 4.90s step= 245 trunk_z= 116.7mm grav_b=(-0.04,+0.08,-1.00) r=0.88m +[headless_play] t= 5.00s step= 250 trunk_z= 118.2mm grav_b=(-0.03,-0.02,-1.00) r=0.89m +[headless_play] t= 5.10s step= 255 trunk_z= 119.0mm grav_b=(-0.02,-0.12,-0.99) r=0.91m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.00,+0.01,-1.00) r=0.92m +[headless_play] t= 5.30s step= 265 trunk_z= 117.2mm grav_b=(+0.00,+0.03,-1.00) r=0.94m +[headless_play] t= 5.40s step= 270 trunk_z= 116.4mm grav_b=(-0.01,-0.10,-1.00) r=0.95m +[headless_play] t= 5.50s step= 275 trunk_z= 116.6mm grav_b=(-0.00,-0.04,-1.00) r=0.97m +[headless_play] t= 5.60s step= 280 trunk_z= 118.1mm grav_b=(+0.01,+0.10,-1.00) r=1.00m +[headless_play] t= 5.70s step= 285 trunk_z= 117.0mm grav_b=(+0.02,-0.01,-1.00) r=1.02m +[headless_play] t= 5.80s step= 290 trunk_z= 118.6mm grav_b=(-0.02,-0.08,-1.00) r=1.04m +[headless_play] t= 5.90s step= 295 trunk_z= 115.6mm grav_b=(-0.04,+0.06,-1.00) r=1.06m +[headless_play] t= 6.00s step= 300 trunk_z= 118.3mm grav_b=(-0.02,+0.03,-1.00) r=1.08m +[headless_play] t= 6.10s step= 305 trunk_z= 112.9mm grav_b=(+0.00,-0.10,-0.99) r=1.10m +[headless_play] t= 6.20s step= 310 trunk_z= 113.4mm grav_b=(-0.01,-0.09,-1.00) r=1.13m +[headless_play] t= 6.30s step= 315 trunk_z= 108.3mm grav_b=(-0.01,+0.03,-1.00) r=1.16m +[headless_play] t= 6.40s step= 320 trunk_z= 108.3mm grav_b=(-0.00,-0.06,-1.00) r=1.18m +[headless_play] t= 6.50s step= 325 trunk_z= 100.2mm grav_b=(-0.00,-0.07,-1.00) r=1.21m +[headless_play] t= 6.60s step= 330 trunk_z= 96.6mm grav_b=(+0.06,-0.02,-1.00) r=1.24m +[headless_play] t= 6.70s step= 335 trunk_z= 97.0mm grav_b=(+0.08,+0.01,-1.00) r=1.27m +[headless_play] t= 6.80s step= 340 trunk_z= 85.6mm grav_b=(-0.05,-0.14,-0.99) r=1.29m +[headless_play] t= 6.90s step= 345 trunk_z= 85.3mm grav_b=(-0.14,-0.13,-0.98) r=1.33m +[headless_play] t= 7.00s step= 350 trunk_z= 81.0mm grav_b=(-0.06,-0.05,-1.00) r=1.37m +[headless_play] t= 7.10s step= 355 trunk_z= 76.3mm grav_b=(+0.01,-0.08,-1.00) r=1.41m +[headless_play] t= 7.20s step= 360 trunk_z= 75.1mm grav_b=(+0.07,-0.05,-1.00) r=1.43m +[headless_play] t= 7.30s step= 365 trunk_z= 72.8mm grav_b=(-0.09,+0.05,-1.00) r=1.45m +[headless_play] t= 7.40s step= 370 trunk_z= 68.9mm grav_b=(-0.07,-0.11,-0.99) r=1.49m +[headless_play] t= 7.50s step= 375 trunk_z= 63.9mm grav_b=(-0.08,-0.09,-0.99) r=1.52m +[headless_play] t= 7.60s step= 380 trunk_z= 60.6mm grav_b=(-0.01,-0.11,-0.99) r=1.55m +[headless_play] t= 7.70s step= 385 trunk_z= 63.2mm grav_b=(-0.06,-0.04,-1.00) r=1.58m +[headless_play] t= 7.80s step= 390 trunk_z= 55.8mm grav_b=(-0.11,-0.04,-0.99) r=1.61m +[headless_play] t= 7.90s step= 395 trunk_z= 51.3mm grav_b=(-0.09,-0.11,-0.99) r=1.64m +[headless_play] t= 8.00s step= 400 trunk_z= 49.1mm grav_b=(-0.03,-0.10,-0.99) r=1.67m +[headless_play] t= 8.10s step= 405 trunk_z= 47.5mm grav_b=(-0.00,-0.07,-1.00) r=1.70m +[headless_play] t= 8.20s step= 410 trunk_z= 45.5mm grav_b=(+0.01,-0.11,-0.99) r=1.71m +[headless_play] t= 8.30s step= 415 trunk_z= 45.4mm grav_b=(-0.06,-0.03,-1.00) r=1.72m +[headless_play] t= 8.40s step= 420 trunk_z= 43.0mm grav_b=(-0.05,-0.07,-1.00) r=1.74m +[headless_play] t= 8.50s step= 425 trunk_z= 36.3mm grav_b=(-0.09,-0.15,-0.98) r=1.77m +[headless_play] t= 8.60s step= 430 trunk_z= 35.0mm grav_b=(-0.09,-0.11,-0.99) r=1.79m +[headless_play] t= 8.70s step= 435 trunk_z= 35.3mm grav_b=(-0.03,-0.11,-0.99) r=1.81m +[headless_play] t= 8.80s step= 440 trunk_z= 33.7mm grav_b=(-0.04,-0.04,-1.00) r=1.83m +[headless_play] t= 8.90s step= 445 trunk_z= 33.5mm grav_b=(-0.06,-0.12,-0.99) r=1.85m +[headless_play] t= 9.00s step= 450 trunk_z= 29.7mm grav_b=(-0.08,-0.03,-1.00) r=1.86m +[headless_play] t= 9.10s step= 455 trunk_z= 30.5mm grav_b=(-0.05,-0.09,-0.99) r=1.88m +[headless_play] t= 9.20s step= 460 trunk_z= 29.0mm grav_b=(-0.11,+0.02,-0.99) r=1.89m +[headless_play] t= 9.30s step= 465 trunk_z= 25.7mm grav_b=(-0.15,+0.02,-0.99) r=1.91m +[headless_play] t= 9.40s step= 470 trunk_z= 23.9mm grav_b=(-0.09,-0.08,-0.99) r=1.93m +[headless_play] t= 9.50s step= 475 trunk_z= 23.5mm grav_b=(-0.07,-0.08,-0.99) r=1.95m +[headless_play] t= 9.60s step= 480 trunk_z= 22.9mm grav_b=(-0.06,-0.04,-1.00) r=1.96m +[headless_play] t= 9.70s step= 485 trunk_z= 22.2mm grav_b=(-0.02,-0.04,-1.00) r=1.97m +[headless_play] t= 9.80s step= 490 trunk_z= 17.6mm grav_b=(-0.07,-0.13,-0.99) r=1.99m +[headless_play] t= 9.90s step= 495 trunk_z= 15.9mm grav_b=(-0.08,-0.05,-1.00) r=2.01m +[headless_play] t= 10.00s step= 500 trunk_z= 17.9mm grav_b=(-0.03,-0.07,-1.00) r=2.03m +[headless_play] t= 10.10s step= 505 trunk_z= 11.9mm grav_b=(-0.10,+0.04,-0.99) r=2.04m +[headless_play] t= 10.20s step= 510 trunk_z= 15.1mm grav_b=(-0.07,-0.04,-1.00) r=2.05m +[headless_play] t= 10.30s step= 515 trunk_z= 15.1mm grav_b=(-0.06,-0.08,-1.00) r=2.07m +[headless_play] t= 10.40s step= 520 trunk_z= 10.7mm grav_b=(-0.02,-0.03,-1.00) r=2.09m +[headless_play] t= 10.50s step= 525 trunk_z= 10.1mm grav_b=(-0.03,-0.10,-0.99) r=2.11m +[headless_play] t= 10.60s step= 530 trunk_z= 7.3mm grav_b=(-0.03,-0.01,-1.00) r=2.12m +[headless_play] t= 10.70s step= 535 trunk_z= 9.7mm grav_b=(+0.03,-0.00,-1.00) r=2.14m +[headless_play] t= 10.80s step= 540 trunk_z= -0.8mm grav_b=(-0.12,+0.17,-0.98) r=2.15m +[headless_play] t= 10.90s step= 545 trunk_z= 1.7mm grav_b=(-0.08,-0.01,-1.00) r=2.17m +[headless_play] t= 11.00s step= 550 trunk_z= 3.3mm grav_b=(-0.05,-0.01,-1.00) r=2.19m +[headless_play] t= 11.10s step= 555 trunk_z= 1.1mm grav_b=(-0.04,-0.01,-1.00) r=2.20m +[headless_play] t= 11.20s step= 560 trunk_z= 0.2mm grav_b=(+0.13,-0.02,-0.99) r=2.24m +[headless_play] t= 11.30s step= 565 trunk_z= -3.3mm grav_b=(+0.19,-0.08,-0.98) r=2.29m +[headless_play] t= 11.40s step= 570 trunk_z= -16.8mm grav_b=(+0.15,+0.04,-0.99) r=2.34m +[headless_play] t= 11.50s step= 575 trunk_z= -26.2mm grav_b=(-0.01,+0.12,-0.99) r=2.38m +[headless_play] t= 11.60s step= 580 trunk_z= -19.2mm grav_b=(-0.08,-0.11,-0.99) r=2.41m +[headless_play] t= 11.70s step= 585 trunk_z= 0.8mm grav_b=(-0.05,-0.20,-0.98) r=2.42m +[headless_play] t= 11.80s step= 590 trunk_z= 6.7mm grav_b=(-0.24,+0.08,-0.97) r=2.45m +[headless_play] t= 11.90s step= 595 trunk_z= 7.0mm grav_b=(-0.16,+0.07,-0.98) r=2.47m +[headless_play] t= 12.00s step= 600 trunk_z= -2.1mm grav_b=(-0.08,-0.15,-0.99) r=2.46m +[headless_play] t= 12.10s step= 605 trunk_z= 2.7mm grav_b=(+0.03,-0.05,-1.00) r=2.45m +[headless_play] t= 12.20s step= 610 trunk_z= 2.6mm grav_b=(+0.03,+0.06,-1.00) r=2.45m +[headless_play] t= 12.30s step= 615 trunk_z= 2.5mm grav_b=(-0.01,-0.14,-0.99) r=2.43m +[headless_play] t= 12.40s step= 620 trunk_z= 6.8mm grav_b=(-0.01,-0.15,-0.99) r=2.42m +[headless_play] t= 12.50s step= 625 trunk_z= -1.9mm grav_b=(-0.06,+0.03,-1.00) r=2.40m +[headless_play] t= 12.60s step= 630 trunk_z= -0.4mm grav_b=(-0.09,-0.00,-1.00) r=2.38m +[headless_play] t= 12.70s step= 635 trunk_z= -5.8mm grav_b=(-0.01,-0.09,-1.00) r=2.36m +[headless_play] t= 12.80s step= 640 trunk_z= -6.0mm grav_b=(+0.06,+0.08,-0.99) r=2.35m +[headless_play] t= 12.90s step= 645 trunk_z= 0.9mm grav_b=(+0.07,-0.05,-1.00) r=2.35m +[headless_play] t= 13.00s step= 650 trunk_z= 0.5mm grav_b=(-0.04,-0.05,-1.00) r=2.34m +[headless_play] t= 13.10s step= 655 trunk_z= 0.0mm grav_b=(-0.13,+0.02,-0.99) r=2.34m +[headless_play] t= 13.20s step= 660 trunk_z= 5.0mm grav_b=(-0.15,+0.10,-0.98) r=2.34m +[headless_play] t= 13.30s step= 665 trunk_z= -7.9mm grav_b=(-0.13,-0.03,-0.99) r=2.34m +[headless_play] t= 13.40s step= 670 trunk_z= -9.5mm grav_b=(-0.00,+0.06,-1.00) r=2.36m +[headless_play] t= 13.50s step= 675 trunk_z= -10.0mm grav_b=(+0.05,+0.12,-0.99) r=2.37m +[headless_play] t= 13.60s step= 680 trunk_z= -6.1mm grav_b=(-0.03,+0.00,-1.00) r=2.38m +[headless_play] t= 13.70s step= 685 trunk_z= -2.2mm grav_b=(-0.07,+0.03,-1.00) r=2.38m +[headless_play] t= 13.80s step= 690 trunk_z= -0.4mm grav_b=(-0.07,+0.08,-0.99) r=2.38m +[headless_play] t= 13.90s step= 695 trunk_z= -4.1mm grav_b=(-0.04,-0.06,-1.00) r=2.38m +[headless_play] t= 14.00s step= 700 trunk_z= -4.0mm grav_b=(-0.02,+0.00,-1.00) r=2.37m +[headless_play] t= 14.10s step= 705 trunk_z= -1.7mm grav_b=(-0.03,+0.04,-1.00) r=2.36m +[headless_play] t= 14.20s step= 710 trunk_z= -3.3mm grav_b=(-0.05,-0.04,-1.00) r=2.36m +[headless_play] t= 14.30s step= 715 trunk_z= -5.8mm grav_b=(-0.11,+0.03,-0.99) r=2.38m +[headless_play] t= 14.40s step= 720 trunk_z= -12.0mm grav_b=(-0.07,+0.01,-1.00) r=2.40m +[headless_play] t= 14.50s step= 725 trunk_z= -7.5mm grav_b=(-0.23,-0.06,-0.97) r=2.42m +[headless_play] t= 14.60s step= 730 trunk_z= -31.8mm grav_b=(-0.35,+0.13,-0.93) r=2.44m +[headless_play] t= 14.70s step= 735 trunk_z= -68.5mm grav_b=(-0.14,+0.35,-0.93) r=2.44m +[headless_play] t= 14.80s step= 740 trunk_z= -41.2mm grav_b=(+0.08,+0.18,-0.98) r=2.44m +[headless_play] t= 14.90s step= 745 trunk_z= -7.4mm grav_b=(-0.02,-0.06,-1.00) r=2.43m +[headless_play] t= 15.00s step= 750 trunk_z= -1.6mm grav_b=(-0.01,-0.06,-1.00) r=2.41m +[headless_play] t= 15.10s step= 755 trunk_z= -0.6mm grav_b=(+0.00,-0.05,-1.00) r=2.42m +[headless_play] t= 15.20s step= 760 trunk_z= -2.9mm grav_b=(-0.06,+0.06,-1.00) r=2.42m +[headless_play] t= 15.30s step= 765 trunk_z= -5.0mm grav_b=(-0.06,-0.04,-1.00) r=2.42m +[headless_play] t= 15.40s step= 770 trunk_z= -0.9mm grav_b=(-0.02,-0.03,-1.00) r=2.41m +[headless_play] t= 15.50s step= 775 trunk_z= -5.9mm grav_b=(-0.06,+0.15,-0.99) r=2.42m +[headless_play] t= 15.60s step= 780 trunk_z= 2.4mm grav_b=(-0.07,+0.17,-0.98) r=2.43m +[headless_play] t= 15.70s step= 785 trunk_z= 1.8mm grav_b=(-0.04,+0.13,-0.99) r=2.43m +[headless_play] t= 15.80s step= 790 trunk_z= -2.2mm grav_b=(-0.02,+0.05,-1.00) r=2.42m +[headless_play] t= 15.90s step= 795 trunk_z= -1.3mm grav_b=(-0.04,+0.03,-1.00) r=2.40m +[headless_play] t= 16.00s step= 800 trunk_z= -5.8mm grav_b=(-0.01,+0.17,-0.99) r=2.41m +[headless_play] t= 16.10s step= 805 trunk_z= -4.2mm grav_b=(+0.02,+0.05,-1.00) r=2.41m +[headless_play] t= 16.20s step= 810 trunk_z= -5.1mm grav_b=(-0.01,+0.01,-1.00) r=2.42m +[headless_play] t= 16.30s step= 815 trunk_z= -6.1mm grav_b=(-0.04,+0.15,-0.99) r=2.43m +[headless_play] t= 16.40s step= 820 trunk_z= -5.1mm grav_b=(-0.01,+0.08,-1.00) r=2.45m +[headless_play] t= 16.50s step= 825 trunk_z= -8.5mm grav_b=(-0.01,+0.07,-1.00) r=2.47m +[headless_play] t= 16.60s step= 830 trunk_z= -7.5mm grav_b=(+0.01,+0.11,-0.99) r=2.48m +[headless_play] t= 16.70s step= 835 trunk_z= -7.3mm grav_b=(+0.03,+0.05,-1.00) r=2.49m +[headless_play] t= 16.80s step= 840 trunk_z= -5.2mm grav_b=(-0.01,+0.08,-1.00) r=2.49m +[headless_play] t= 16.90s step= 845 trunk_z= -5.6mm grav_b=(+0.01,+0.09,-1.00) r=2.49m +[headless_play] t= 17.00s step= 850 trunk_z= -5.0mm grav_b=(-0.01,+0.07,-1.00) r=2.49m +[headless_play] t= 17.10s step= 855 trunk_z= -5.5mm grav_b=(-0.04,+0.06,-1.00) r=2.49m +[headless_play] t= 17.20s step= 860 trunk_z= -6.1mm grav_b=(-0.06,+0.08,-1.00) r=2.49m +[headless_play] t= 17.30s step= 865 trunk_z= -6.1mm grav_b=(-0.06,+0.08,-0.99) r=2.49m +[headless_play] t= 17.40s step= 870 trunk_z= -6.3mm grav_b=(-0.06,+0.08,-1.00) r=2.49m +[headless_play] t= 17.50s step= 875 trunk_z= -6.3mm grav_b=(-0.02,+0.08,-1.00) r=2.49m +[headless_play] t= 17.60s step= 880 trunk_z= -6.1mm grav_b=(+0.00,+0.07,-1.00) r=2.49m +[headless_play] t= 17.70s step= 885 trunk_z= -5.8mm grav_b=(-0.02,+0.07,-1.00) r=2.49m +[headless_play] t= 17.80s step= 890 trunk_z= -5.6mm grav_b=(-0.04,+0.06,-1.00) r=2.49m +[headless_play] t= 17.90s step= 895 trunk_z= -5.8mm grav_b=(-0.05,+0.06,-1.00) r=2.49m +[headless_play] t= 18.00s step= 900 trunk_z= -6.0mm grav_b=(-0.06,+0.07,-1.00) r=2.48m +[headless_play] t= 18.10s step= 905 trunk_z= -5.9mm grav_b=(-0.06,+0.07,-1.00) r=2.49m +[headless_play] t= 18.20s step= 910 trunk_z= -5.9mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 18.30s step= 915 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 18.40s step= 920 trunk_z= -5.8mm grav_b=(-0.03,+0.07,-1.00) r=2.49m +[headless_play] t= 18.50s step= 925 trunk_z= -5.7mm grav_b=(-0.03,+0.07,-1.00) r=2.49m +[headless_play] t= 18.60s step= 930 trunk_z= -5.7mm grav_b=(-0.03,+0.07,-1.00) r=2.49m +[headless_play] t= 18.70s step= 935 trunk_z= -5.8mm grav_b=(-0.03,+0.07,-1.00) r=2.49m +[headless_play] t= 18.80s step= 940 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 18.90s step= 945 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.00s step= 950 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.10s step= 955 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.20s step= 960 trunk_z= -5.8mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.30s step= 965 trunk_z= -5.8mm grav_b=(-0.03,+0.07,-1.00) r=2.49m +[headless_play] t= 19.40s step= 970 trunk_z= -5.7mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.50s step= 975 trunk_z= -5.7mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.60s step= 980 trunk_z= -5.7mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.70s step= 985 trunk_z= -5.7mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.80s step= 990 trunk_z= -5.7mm grav_b=(-0.04,+0.07,-1.00) r=2.49m +[headless_play] t= 19.90s step= 995 trunk_z= -5.5mm grav_b=(-0.06,+0.07,-1.00) r=2.47m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 124.5mm grav_b=(-0.01,+0.00,-1.00) r=0.46m +[headless_play] t= 20.10s step=1005 trunk_z= 116.3mm grav_b=(-0.06,-0.02,-1.00) r=0.46m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t2.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..f42f2eaf77a3629e6950aeab645062d3968b5b8d --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t2.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.9mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.856,-18.469,+0.151) +[headless_play] t= 0.00s step= 0 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 117.2mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 0.20s step= 10 trunk_z= 119.4mm grav_b=(-0.01,-0.02,-1.00) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 120.2mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.40s step= 20 trunk_z= 120.7mm grav_b=(-0.00,-0.01,-1.00) r=0.49m +[headless_play] t= 0.50s step= 25 trunk_z= 120.6mm grav_b=(-0.02,-0.00,-1.00) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 120.3mm grav_b=(-0.05,-0.00,-1.00) r=0.49m +[headless_play] t= 0.70s step= 35 trunk_z= 120.5mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 0.80s step= 40 trunk_z= 120.5mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 0.90s step= 45 trunk_z= 120.5mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 120.5mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 120.5mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 120.6mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 120.6mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 120.5mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 120.7mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 120.7mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 120.8mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 120.8mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 120.7mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 120.8mm grav_b=(-0.03,+0.00,-1.00) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.04,+0.00,-1.00) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 120.7mm grav_b=(-0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 120.6mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 120.7mm grav_b=(-0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 120.7mm grav_b=(-0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 120.8mm grav_b=(-0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 120.7mm grav_b=(-0.04,+0.01,-1.00) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 120.7mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 4.70s step= 235 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 120.8mm grav_b=(-0.05,+0.01,-1.00) r=0.50m +[headless_play] t= 5.00s step= 250 trunk_z= 120.9mm grav_b=(-0.05,+0.01,-1.00) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 120.8mm grav_b=(-0.05,+0.02,-1.00) r=0.50m +[headless_play] t= 5.20s step= 260 trunk_z= 118.0mm grav_b=(-0.05,+0.03,-1.00) r=0.50m +[headless_play] t= 5.30s step= 265 trunk_z= 114.7mm grav_b=(-0.03,-0.06,-1.00) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 113.4mm grav_b=(-0.03,+0.04,-1.00) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 111.1mm grav_b=(+0.02,-0.06,-1.00) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 112.4mm grav_b=(+0.07,-0.07,-0.99) r=0.48m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.01,+0.06,-1.00) r=0.48m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(+0.01,-0.02,-1.00) r=0.47m +[headless_play] t= 6.00s step= 300 trunk_z= 110.9mm grav_b=(+0.04,-0.10,-0.99) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 110.7mm grav_b=(+0.13,+0.08,-0.99) r=0.46m +[headless_play] t= 6.20s step= 310 trunk_z= 122.4mm grav_b=(+0.11,+0.02,-0.99) r=0.47m +[headless_play] t= 6.30s step= 315 trunk_z= 108.8mm grav_b=(+0.03,-0.16,-0.99) r=0.48m +[headless_play] t= 6.40s step= 320 trunk_z= 119.4mm grav_b=(-0.10,-0.05,-0.99) r=0.49m +[headless_play] t= 6.50s step= 325 trunk_z= 118.3mm grav_b=(-0.00,+0.07,-1.00) r=0.50m +[headless_play] t= 6.60s step= 330 trunk_z= 117.0mm grav_b=(+0.04,-0.04,-1.00) r=0.51m +[headless_play] t= 6.70s step= 335 trunk_z= 117.9mm grav_b=(+0.00,-0.12,-0.99) r=0.51m +[headless_play] t= 6.80s step= 340 trunk_z= 113.8mm grav_b=(+0.04,+0.02,-1.00) r=0.52m +[headless_play] t= 6.90s step= 345 trunk_z= 117.2mm grav_b=(-0.00,-0.00,-1.00) r=0.54m +[headless_play] t= 7.00s step= 350 trunk_z= 110.9mm grav_b=(+0.03,-0.12,-0.99) r=0.54m +[headless_play] t= 7.10s step= 355 trunk_z= 113.1mm grav_b=(+0.07,-0.06,-1.00) r=0.54m +[headless_play] t= 7.20s step= 360 trunk_z= 114.9mm grav_b=(-0.01,+0.08,-1.00) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 116.4mm grav_b=(+0.02,-0.00,-1.00) r=0.58m +[headless_play] t= 7.40s step= 370 trunk_z= 113.4mm grav_b=(+0.03,-0.09,-1.00) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 113.4mm grav_b=(+0.06,-0.01,-1.00) r=0.60m +[headless_play] t= 7.60s step= 380 trunk_z= 114.4mm grav_b=(+0.05,+0.03,-1.00) r=0.63m +[headless_play] t= 7.70s step= 385 trunk_z= 112.8mm grav_b=(+0.06,-0.06,-1.00) r=0.64m +[headless_play] t= 7.80s step= 390 trunk_z= 116.8mm grav_b=(+0.06,-0.11,-0.99) r=0.65m +[headless_play] t= 7.90s step= 395 trunk_z= 114.8mm grav_b=(+0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 8.00s step= 400 trunk_z= 117.0mm grav_b=(+0.02,-0.04,-1.00) r=0.68m +[headless_play] t= 8.10s step= 405 trunk_z= 112.3mm grav_b=(-0.00,-0.16,-0.99) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 114.1mm grav_b=(+0.02,-0.05,-1.00) r=0.70m +[headless_play] t= 8.30s step= 415 trunk_z= 115.4mm grav_b=(-0.02,-0.00,-1.00) r=0.72m +[headless_play] t= 8.40s step= 420 trunk_z= 111.4mm grav_b=(-0.02,-0.14,-0.99) r=0.74m +[headless_play] t= 8.50s step= 425 trunk_z= 111.6mm grav_b=(+0.01,-0.02,-1.00) r=0.75m +[headless_play] t= 8.60s step= 430 trunk_z= 114.7mm grav_b=(-0.00,-0.00,-1.00) r=0.77m +[headless_play] t= 8.70s step= 435 trunk_z= 112.2mm grav_b=(-0.02,-0.11,-0.99) r=0.78m +[headless_play] t= 8.80s step= 440 trunk_z= 110.7mm grav_b=(-0.04,+0.05,-1.00) r=0.79m +[headless_play] t= 8.90s step= 445 trunk_z= 113.7mm grav_b=(+0.00,-0.05,-1.00) r=0.80m +[headless_play] t= 9.00s step= 450 trunk_z= 111.2mm grav_b=(+0.00,-0.03,-1.00) r=0.81m +[headless_play] t= 9.10s step= 455 trunk_z= 113.7mm grav_b=(-0.03,+0.02,-1.00) r=0.82m +[headless_play] t= 9.20s step= 460 trunk_z= 112.0mm grav_b=(-0.02,-0.09,-1.00) r=0.83m +[headless_play] t= 9.30s step= 465 trunk_z= 111.6mm grav_b=(-0.01,-0.03,-1.00) r=0.85m +[headless_play] t= 9.40s step= 470 trunk_z= 112.5mm grav_b=(-0.02,+0.02,-1.00) r=0.86m +[headless_play] t= 9.50s step= 475 trunk_z= 111.5mm grav_b=(-0.02,-0.12,-0.99) r=0.87m +[headless_play] t= 9.60s step= 480 trunk_z= 112.8mm grav_b=(-0.03,-0.03,-1.00) r=0.88m +[headless_play] t= 9.70s step= 485 trunk_z= 113.0mm grav_b=(-0.03,-0.00,-1.00) r=0.90m +[headless_play] t= 9.80s step= 490 trunk_z= 111.3mm grav_b=(-0.02,-0.08,-1.00) r=0.91m +[headless_play] t= 9.90s step= 495 trunk_z= 110.8mm grav_b=(-0.04,+0.04,-1.00) r=0.93m +[headless_play] t= 10.00s step= 500 trunk_z= 112.9mm grav_b=(-0.02,-0.05,-1.00) r=0.94m +[headless_play] t= 10.10s step= 505 trunk_z= 110.0mm grav_b=(-0.01,-0.02,-1.00) r=0.96m +[headless_play] t= 10.20s step= 510 trunk_z= 98.2mm grav_b=(-0.08,+0.27,-0.96) r=0.98m +[headless_play] t= 10.30s step= 515 trunk_z= 110.3mm grav_b=(-0.10,+0.26,-0.96) r=0.99m +[headless_play] t= 10.40s step= 520 trunk_z= 110.1mm grav_b=(-0.06,+0.17,-0.98) r=0.98m +[headless_play] t= 10.50s step= 525 trunk_z= 95.3mm grav_b=(+0.11,+0.17,-0.98) r=0.98m +[headless_play] t= 10.60s step= 530 trunk_z= 65.6mm grav_b=(+0.22,+0.08,-0.97) r=0.99m +[headless_play] t= 10.70s step= 535 trunk_z= 72.6mm grav_b=(+0.08,+0.05,-1.00) r=0.97m +[headless_play] t= 10.80s step= 540 trunk_z= 89.6mm grav_b=(-0.13,+0.14,-0.98) r=0.95m +[headless_play] t= 10.90s step= 545 trunk_z= 75.7mm grav_b=(-0.34,+0.21,-0.92) r=0.94m +[headless_play] t= 11.00s step= 550 trunk_z= 80.0mm grav_b=(-0.54,+0.05,-0.84) r=0.94m +[headless_play] t= 11.10s step= 555 trunk_z= 88.4mm grav_b=(-0.83,+0.11,-0.55) r=0.92m +[headless_play] RESET at t= 11.16s step= 558 (env termination, not a recovery) +[headless_play] t= 11.20s step= 560 trunk_z= 114.5mm grav_b=(-0.02,+0.00,-1.00) r=0.34m +[headless_play] t= 11.30s step= 565 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) r=0.35m +[headless_play] t= 11.40s step= 570 trunk_z= 117.8mm grav_b=(+0.07,+0.00,-1.00) r=0.35m +[headless_play] t= 11.50s step= 575 trunk_z= 117.3mm grav_b=(+0.05,+0.06,-1.00) r=0.35m +[headless_play] t= 11.60s step= 580 trunk_z= 117.7mm grav_b=(+0.03,-0.02,-1.00) r=0.36m +[headless_play] t= 11.70s step= 585 trunk_z= 117.9mm grav_b=(+0.04,-0.06,-1.00) r=0.38m +[headless_play] t= 11.80s step= 590 trunk_z= 114.7mm grav_b=(+0.04,+0.11,-0.99) r=0.39m +[headless_play] t= 11.90s step= 595 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 12.00s step= 600 trunk_z= 116.7mm grav_b=(+0.06,-0.12,-0.99) r=0.43m +[headless_play] t= 12.10s step= 605 trunk_z= 113.0mm grav_b=(+0.06,+0.02,-1.00) r=0.45m +[headless_play] t= 12.20s step= 610 trunk_z= 118.2mm grav_b=(+0.04,+0.05,-1.00) r=0.47m +[headless_play] t= 12.30s step= 615 trunk_z= 113.7mm grav_b=(+0.01,-0.08,-1.00) r=0.49m +[headless_play] t= 12.40s step= 620 trunk_z= 115.1mm grav_b=(+0.07,-0.06,-1.00) r=0.51m +[headless_play] t= 12.50s step= 625 trunk_z= 112.2mm grav_b=(+0.08,+0.10,-0.99) r=0.54m +[headless_play] t= 12.60s step= 630 trunk_z= 115.8mm grav_b=(+0.08,+0.01,-1.00) r=0.56m +[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(+0.05,-0.13,-0.99) r=0.58m +[headless_play] t= 12.80s step= 640 trunk_z= 114.7mm grav_b=(+0.12,-0.06,-0.99) r=0.60m +[headless_play] t= 12.90s step= 645 trunk_z= 115.6mm grav_b=(+0.10,+0.10,-0.99) r=0.62m +[headless_play] t= 13.00s step= 650 trunk_z= 118.2mm grav_b=(+0.03,-0.03,-1.00) r=0.64m +[headless_play] t= 13.10s step= 655 trunk_z= 119.5mm grav_b=(+0.05,-0.15,-0.99) r=0.67m +[headless_play] t= 13.20s step= 660 trunk_z= 116.8mm grav_b=(+0.10,-0.08,-0.99) r=0.69m +[headless_play] t= 13.30s step= 665 trunk_z= 116.4mm grav_b=(+0.10,+0.08,-0.99) r=0.70m +[headless_play] t= 13.40s step= 670 trunk_z= 119.1mm grav_b=(+0.02,-0.01,-1.00) r=0.72m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(+0.04,-0.11,-0.99) r=0.74m +[headless_play] t= 13.60s step= 680 trunk_z= 112.9mm grav_b=(+0.13,-0.01,-0.99) r=0.75m +[headless_play] t= 13.70s step= 685 trunk_z= 115.8mm grav_b=(+0.14,+0.09,-0.99) r=0.77m +[headless_play] t= 13.80s step= 690 trunk_z= 119.4mm grav_b=(+0.02,-0.03,-1.00) r=0.76m +[headless_play] t= 13.90s step= 695 trunk_z= 118.9mm grav_b=(-0.04,-0.04,-1.00) r=0.75m +[headless_play] t= 14.00s step= 700 trunk_z= 106.8mm grav_b=(+0.01,+0.13,-0.99) r=0.74m +[headless_play] t= 14.10s step= 705 trunk_z= 102.8mm grav_b=(+0.15,+0.04,-0.99) r=0.73m +[headless_play] t= 14.20s step= 710 trunk_z= 107.3mm grav_b=(+0.18,-0.11,-0.98) r=0.73m +[headless_play] t= 14.30s step= 715 trunk_z= 118.3mm grav_b=(+0.04,-0.06,-1.00) r=0.73m +[headless_play] t= 14.40s step= 720 trunk_z= 119.5mm grav_b=(+0.02,+0.06,-1.00) r=0.75m +[headless_play] t= 14.50s step= 725 trunk_z= 119.2mm grav_b=(-0.02,-0.03,-1.00) r=0.77m +[headless_play] t= 14.60s step= 730 trunk_z= 119.3mm grav_b=(+0.03,-0.09,-1.00) r=0.79m +[headless_play] t= 14.70s step= 735 trunk_z= 114.2mm grav_b=(+0.08,+0.01,-1.00) r=0.81m +[headless_play] t= 14.80s step= 740 trunk_z= 118.1mm grav_b=(+0.06,+0.04,-1.00) r=0.83m +[headless_play] t= 14.90s step= 745 trunk_z= 105.7mm grav_b=(+0.05,-0.09,-1.00) r=0.85m +[headless_play] t= 15.00s step= 750 trunk_z= 95.2mm grav_b=(+0.10,-0.18,-0.98) r=0.89m +[headless_play] t= 15.10s step= 755 trunk_z= 92.1mm grav_b=(+0.10,-0.06,-0.99) r=0.92m +[headless_play] t= 15.20s step= 760 trunk_z= 100.0mm grav_b=(+0.04,-0.02,-1.00) r=0.96m +[headless_play] t= 15.30s step= 765 trunk_z= 91.7mm grav_b=(+0.05,-0.12,-0.99) r=0.99m +[headless_play] t= 15.40s step= 770 trunk_z= 88.9mm grav_b=(+0.07,+0.07,-1.00) r=1.02m +[headless_play] t= 15.50s step= 775 trunk_z= 97.9mm grav_b=(+0.09,+0.08,-0.99) r=1.04m +[headless_play] t= 15.60s step= 780 trunk_z= 94.0mm grav_b=(+0.03,-0.07,-1.00) r=1.07m +[headless_play] t= 15.70s step= 785 trunk_z= 95.9mm grav_b=(+0.04,-0.06,-1.00) r=1.10m +[headless_play] t= 15.80s step= 790 trunk_z= 93.2mm grav_b=(+0.04,+0.11,-0.99) r=1.13m +[headless_play] t= 15.90s step= 795 trunk_z= 95.9mm grav_b=(+0.04,+0.03,-1.00) r=1.16m +[headless_play] t= 16.00s step= 800 trunk_z= 92.7mm grav_b=(+0.05,-0.13,-0.99) r=1.18m +[headless_play] t= 16.10s step= 805 trunk_z= 90.2mm grav_b=(+0.07,-0.01,-1.00) r=1.20m +[headless_play] t= 16.20s step= 810 trunk_z= 93.2mm grav_b=(+0.05,+0.08,-1.00) r=1.23m +[headless_play] t= 16.30s step= 815 trunk_z= 91.8mm grav_b=(+0.05,-0.02,-1.00) r=1.25m +[headless_play] t= 16.40s step= 820 trunk_z= 92.4mm grav_b=(+0.07,-0.11,-0.99) r=1.27m +[headless_play] t= 16.50s step= 825 trunk_z= 89.0mm grav_b=(+0.09,+0.00,-1.00) r=1.29m +[headless_play] t= 16.60s step= 830 trunk_z= 92.6mm grav_b=(+0.07,+0.07,-0.99) r=1.31m +[headless_play] t= 16.70s step= 835 trunk_z= 91.0mm grav_b=(+0.04,-0.07,-1.00) r=1.34m +[headless_play] t= 16.80s step= 840 trunk_z= 93.0mm grav_b=(+0.07,-0.13,-0.99) r=1.36m +[headless_play] t= 16.90s step= 845 trunk_z= 88.7mm grav_b=(+0.09,+0.01,-1.00) r=1.38m +[headless_play] t= 17.00s step= 850 trunk_z= 94.3mm grav_b=(+0.06,+0.04,-1.00) r=1.41m +[headless_play] t= 17.10s step= 855 trunk_z= 90.7mm grav_b=(+0.02,-0.08,-1.00) r=1.43m +[headless_play] t= 17.20s step= 860 trunk_z= 92.8mm grav_b=(+0.07,-0.10,-0.99) r=1.45m +[headless_play] t= 17.30s step= 865 trunk_z= 88.0mm grav_b=(+0.08,+0.04,-1.00) r=1.47m +[headless_play] t= 17.40s step= 870 trunk_z= 92.6mm grav_b=(+0.08,+0.05,-1.00) r=1.49m +[headless_play] t= 17.50s step= 875 trunk_z= 91.9mm grav_b=(+0.09,-0.03,-1.00) r=1.51m +[headless_play] t= 17.60s step= 880 trunk_z= 94.2mm grav_b=(+0.08,-0.10,-0.99) r=1.53m +[headless_play] t= 17.70s step= 885 trunk_z= 91.9mm grav_b=(+0.06,-0.02,-1.00) r=1.54m +[headless_play] t= 17.80s step= 890 trunk_z= 93.7mm grav_b=(+0.03,+0.04,-1.00) r=1.56m +[headless_play] t= 17.90s step= 895 trunk_z= 93.4mm grav_b=(+0.08,-0.00,-1.00) r=1.58m +[headless_play] t= 18.00s step= 900 trunk_z= 91.8mm grav_b=(+0.09,-0.10,-0.99) r=1.59m +[headless_play] t= 18.10s step= 905 trunk_z= 92.8mm grav_b=(+0.06,-0.02,-1.00) r=1.61m +[headless_play] t= 18.20s step= 910 trunk_z= 93.5mm grav_b=(+0.02,+0.08,-1.00) r=1.62m +[headless_play] t= 18.30s step= 915 trunk_z= 92.0mm grav_b=(+0.06,-0.01,-1.00) r=1.64m +[headless_play] t= 18.40s step= 920 trunk_z= 91.0mm grav_b=(+0.09,-0.12,-0.99) r=1.66m +[headless_play] t= 18.50s step= 925 trunk_z= 91.9mm grav_b=(+0.08,-0.04,-1.00) r=1.67m +[headless_play] t= 18.60s step= 930 trunk_z= 93.7mm grav_b=(+0.02,+0.09,-1.00) r=1.69m +[headless_play] t= 18.70s step= 935 trunk_z= 91.9mm grav_b=(+0.07,-0.01,-1.00) r=1.70m +[headless_play] t= 18.80s step= 940 trunk_z= 92.1mm grav_b=(+0.06,-0.11,-0.99) r=1.72m +[headless_play] t= 18.90s step= 945 trunk_z= 89.4mm grav_b=(+0.07,-0.00,-1.00) r=1.74m +[headless_play] t= 19.00s step= 950 trunk_z= 92.5mm grav_b=(+0.05,+0.05,-1.00) r=1.75m +[headless_play] t= 19.10s step= 955 trunk_z= 90.9mm grav_b=(+0.06,-0.07,-1.00) r=1.76m +[headless_play] t= 19.20s step= 960 trunk_z= 92.9mm grav_b=(+0.09,-0.12,-0.99) r=1.78m +[headless_play] t= 19.30s step= 965 trunk_z= 90.3mm grav_b=(+0.05,+0.02,-1.00) r=1.79m +[headless_play] t= 19.40s step= 970 trunk_z= 93.6mm grav_b=(+0.04,+0.05,-1.00) r=1.81m +[headless_play] t= 19.50s step= 975 trunk_z= 90.5mm grav_b=(+0.07,-0.05,-1.00) r=1.82m +[headless_play] t= 19.60s step= 980 trunk_z= 93.0mm grav_b=(+0.08,-0.13,-0.99) r=1.84m +[headless_play] t= 19.70s step= 985 trunk_z= 90.7mm grav_b=(+0.07,+0.01,-1.00) r=1.85m +[headless_play] t= 19.80s step= 990 trunk_z= 96.7mm grav_b=(-0.14,+0.06,-0.99) r=1.83m +[headless_play] t= 19.90s step= 995 trunk_z= 75.2mm grav_b=(-0.23,-0.15,-0.96) r=1.81m +[headless_play] t= 20.00s step=1000 trunk_z= 81.4mm grav_b=(-0.08,-0.24,-0.97) r=1.80m +[headless_play] t= 20.10s step=1005 trunk_z= 79.0mm grav_b=(-0.05,+0.07,-1.00) r=1.77m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t3.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..0a04af99e731d3330136b1b6da46772722d2e914 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t3.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 125.0mm grav_b=(-0.00,-0.00,-1.00) root_w=(-6.167,-18.410,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 122.4mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 116.1mm grav_b=(+0.00,-0.00,-1.00) r=0.44m +[headless_play] t= 0.20s step= 10 trunk_z= 116.7mm grav_b=(+0.02,-0.00,-1.00) r=0.44m +[headless_play] t= 0.30s step= 15 trunk_z= 116.9mm grav_b=(+0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.40s step= 20 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 116.8mm grav_b=(-0.02,+0.00,-1.00) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 116.9mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 117.1mm grav_b=(-0.01,+0.00,-1.00) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 117.0mm grav_b=(-0.01,-0.00,-1.00) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.44m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.80s step= 190 trunk_z= 117.6mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 3.90s step= 195 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 4.00s step= 200 trunk_z= 117.7mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 4.20s step= 210 trunk_z= 117.8mm grav_b=(-0.03,-0.01,-1.00) r=0.45m +[headless_play] t= 4.30s step= 215 trunk_z= 117.7mm grav_b=(-0.05,-0.01,-1.00) r=0.47m +[headless_play] t= 4.40s step= 220 trunk_z= 116.8mm grav_b=(-0.16,-0.03,-0.99) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 112.1mm grav_b=(-0.17,+0.10,-0.98) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 90.9mm grav_b=(-0.04,+0.25,-0.97) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 95.8mm grav_b=(+0.09,+0.03,-1.00) r=0.56m +[headless_play] t= 4.80s step= 240 trunk_z= 109.6mm grav_b=(+0.04,+0.02,-1.00) r=0.57m +[headless_play] t= 4.90s step= 245 trunk_z= 115.2mm grav_b=(+0.01,-0.02,-1.00) r=0.57m +[headless_play] t= 5.00s step= 250 trunk_z= 115.3mm grav_b=(-0.00,-0.04,-1.00) r=0.57m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.04,-0.04,-1.00) r=0.57m +[headless_play] t= 5.20s step= 260 trunk_z= 116.2mm grav_b=(-0.06,-0.02,-1.00) r=0.57m +[headless_play] t= 5.30s step= 265 trunk_z= 117.3mm grav_b=(-0.06,+0.00,-1.00) r=0.57m +[headless_play] t= 5.40s step= 270 trunk_z= 117.5mm grav_b=(-0.04,+0.01,-1.00) r=0.57m +[headless_play] t= 5.50s step= 275 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) r=0.57m +[headless_play] t= 5.60s step= 280 trunk_z= 117.6mm grav_b=(-0.03,+0.01,-1.00) r=0.57m +[headless_play] t= 5.70s step= 285 trunk_z= 118.6mm grav_b=(-0.02,+0.02,-1.00) r=0.57m +[headless_play] t= 5.80s step= 290 trunk_z= 119.1mm grav_b=(+0.02,+0.05,-1.00) r=0.57m +[headless_play] t= 5.90s step= 295 trunk_z= 119.8mm grav_b=(+0.05,+0.04,-1.00) r=0.57m +[headless_play] t= 6.00s step= 300 trunk_z= 119.7mm grav_b=(+0.03,+0.05,-1.00) r=0.57m +[headless_play] t= 6.10s step= 305 trunk_z= 119.9mm grav_b=(-0.01,+0.06,-1.00) r=0.57m +[headless_play] t= 6.20s step= 310 trunk_z= 118.9mm grav_b=(-0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 117.7mm grav_b=(+0.00,+0.08,-1.00) r=0.56m +[headless_play] t= 6.40s step= 320 trunk_z= 118.4mm grav_b=(+0.03,-0.03,-1.00) r=0.56m +[headless_play] t= 6.50s step= 325 trunk_z= 117.1mm grav_b=(+0.01,+0.02,-1.00) r=0.55m +[headless_play] t= 6.60s step= 330 trunk_z= 119.7mm grav_b=(+0.01,+0.06,-1.00) r=0.55m +[headless_play] t= 6.70s step= 335 trunk_z= 118.7mm grav_b=(+0.00,-0.08,-1.00) r=0.55m +[headless_play] t= 6.80s step= 340 trunk_z= 118.8mm grav_b=(-0.01,+0.05,-1.00) r=0.55m +[headless_play] t= 6.90s step= 345 trunk_z= 119.1mm grav_b=(+0.01,+0.01,-1.00) r=0.55m +[headless_play] t= 7.00s step= 350 trunk_z= 119.6mm grav_b=(+0.02,-0.03,-1.00) r=0.55m +[headless_play] t= 7.10s step= 355 trunk_z= 121.5mm grav_b=(-0.01,+0.10,-0.99) r=0.56m +[headless_play] t= 7.20s step= 360 trunk_z= 118.8mm grav_b=(+0.01,-0.03,-1.00) r=0.56m +[headless_play] t= 7.30s step= 365 trunk_z= 119.7mm grav_b=(+0.01,-0.01,-1.00) r=0.57m +[headless_play] t= 7.40s step= 370 trunk_z= 123.3mm grav_b=(-0.05,+0.09,-0.99) r=0.59m +[headless_play] t= 7.50s step= 375 trunk_z= 116.0mm grav_b=(-0.02,-0.05,-1.00) r=0.61m +[headless_play] t= 7.60s step= 380 trunk_z= 116.1mm grav_b=(+0.03,+0.07,-1.00) r=0.64m +[headless_play] t= 7.70s step= 385 trunk_z= 119.1mm grav_b=(+0.04,+0.11,-0.99) r=0.66m +[headless_play] t= 7.80s step= 390 trunk_z= 115.5mm grav_b=(+0.01,-0.04,-1.00) r=0.67m +[headless_play] t= 7.90s step= 395 trunk_z= 117.7mm grav_b=(+0.00,+0.10,-0.99) r=0.68m +[headless_play] t= 8.00s step= 400 trunk_z= 119.4mm grav_b=(+0.02,-0.00,-1.00) r=0.69m +[headless_play] t= 8.10s step= 405 trunk_z= 119.5mm grav_b=(+0.00,-0.06,-1.00) r=0.69m +[headless_play] t= 8.20s step= 410 trunk_z= 117.7mm grav_b=(+0.00,+0.12,-0.99) r=0.70m +[headless_play] t= 8.30s step= 415 trunk_z= 122.5mm grav_b=(+0.01,+0.02,-1.00) r=0.71m +[headless_play] t= 8.40s step= 420 trunk_z= 120.9mm grav_b=(-0.01,-0.07,-1.00) r=0.71m +[headless_play] t= 8.50s step= 425 trunk_z= 117.6mm grav_b=(-0.00,+0.10,-1.00) r=0.72m +[headless_play] t= 8.60s step= 430 trunk_z= 121.9mm grav_b=(+0.02,+0.02,-1.00) r=0.74m +[headless_play] t= 8.70s step= 435 trunk_z= 120.3mm grav_b=(-0.02,-0.10,-0.99) r=0.74m +[headless_play] t= 8.80s step= 440 trunk_z= 118.5mm grav_b=(-0.01,+0.06,-1.00) r=0.76m +[headless_play] t= 8.90s step= 445 trunk_z= 123.6mm grav_b=(+0.02,+0.06,-1.00) r=0.77m +[headless_play] t= 9.00s step= 450 trunk_z= 117.6mm grav_b=(+0.01,-0.09,-1.00) r=0.78m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(-0.00,+0.07,-1.00) r=0.79m +[headless_play] t= 9.20s step= 460 trunk_z= 123.4mm grav_b=(+0.01,+0.04,-1.00) r=0.81m +[headless_play] t= 9.30s step= 465 trunk_z= 119.1mm grav_b=(+0.01,-0.10,-1.00) r=0.82m +[headless_play] t= 9.40s step= 470 trunk_z= 118.9mm grav_b=(-0.00,+0.05,-1.00) r=0.84m +[headless_play] t= 9.50s step= 475 trunk_z= 125.1mm grav_b=(-0.02,+0.07,-1.00) r=0.86m +[headless_play] t= 9.60s step= 480 trunk_z= 117.9mm grav_b=(-0.01,-0.10,-0.99) r=0.87m +[headless_play] t= 9.70s step= 485 trunk_z= 118.4mm grav_b=(+0.01,+0.04,-1.00) r=0.88m +[headless_play] t= 9.80s step= 490 trunk_z= 121.2mm grav_b=(-0.01,+0.07,-1.00) r=0.90m +[headless_play] t= 9.90s step= 495 trunk_z= 117.3mm grav_b=(+0.02,-0.14,-0.99) r=0.90m +[headless_play] t= 10.00s step= 500 trunk_z= 118.9mm grav_b=(+0.02,+0.01,-1.00) r=0.91m +[headless_play] t= 10.10s step= 505 trunk_z= 124.7mm grav_b=(-0.04,+0.16,-0.99) r=0.93m +[headless_play] t= 10.20s step= 510 trunk_z= 128.8mm grav_b=(-0.00,+0.12,-0.99) r=0.94m +[headless_play] t= 10.30s step= 515 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.94m +[headless_play] t= 10.40s step= 520 trunk_z= 119.3mm grav_b=(-0.01,+0.04,-1.00) r=0.94m +[headless_play] t= 10.50s step= 525 trunk_z= 101.6mm grav_b=(-0.03,+0.25,-0.97) r=0.95m +[headless_play] t= 10.60s step= 530 trunk_z= 106.5mm grav_b=(-0.01,+0.25,-0.97) r=0.96m +[headless_play] t= 10.70s step= 535 trunk_z= 106.4mm grav_b=(+0.03,+0.23,-0.97) r=0.98m +[headless_play] t= 10.80s step= 540 trunk_z= 112.2mm grav_b=(+0.02,+0.06,-1.00) r=0.99m +[headless_play] t= 10.90s step= 545 trunk_z= 104.7mm grav_b=(-0.10,-0.05,-0.99) r=1.00m +[headless_play] t= 11.00s step= 550 trunk_z= 94.0mm grav_b=(-0.05,+0.01,-1.00) r=1.02m +[headless_play] t= 11.10s step= 555 trunk_z= 89.2mm grav_b=(+0.05,-0.05,-1.00) r=1.03m +[headless_play] t= 11.20s step= 560 trunk_z= 87.2mm grav_b=(+0.10,-0.02,-0.99) r=1.04m +[headless_play] t= 11.30s step= 565 trunk_z= 95.0mm grav_b=(+0.03,+0.10,-0.99) r=1.05m +[headless_play] t= 11.40s step= 570 trunk_z= 95.1mm grav_b=(-0.02,-0.06,-1.00) r=1.06m +[headless_play] t= 11.50s step= 575 trunk_z= 95.3mm grav_b=(-0.04,-0.01,-1.00) r=1.06m +[headless_play] t= 11.60s step= 580 trunk_z= 98.8mm grav_b=(-0.02,+0.08,-1.00) r=1.08m +[headless_play] t= 11.70s step= 585 trunk_z= 92.2mm grav_b=(-0.00,-0.08,-1.00) r=1.08m +[headless_play] t= 11.80s step= 590 trunk_z= 94.7mm grav_b=(+0.02,-0.03,-1.00) r=1.09m +[headless_play] t= 11.90s step= 595 trunk_z= 97.7mm grav_b=(-0.01,+0.10,-0.99) r=1.10m +[headless_play] t= 12.00s step= 600 trunk_z= 95.0mm grav_b=(-0.01,-0.04,-1.00) r=1.11m +[headless_play] t= 12.10s step= 605 trunk_z= 96.0mm grav_b=(+0.02,-0.05,-1.00) r=1.12m +[headless_play] t= 12.20s step= 610 trunk_z= 93.0mm grav_b=(-0.02,+0.14,-0.99) r=1.13m +[headless_play] t= 12.30s step= 615 trunk_z= 101.1mm grav_b=(+0.00,+0.09,-1.00) r=1.14m +[headless_play] t= 12.40s step= 620 trunk_z= 92.3mm grav_b=(+0.04,-0.09,-1.00) r=1.18m +[headless_play] t= 12.50s step= 625 trunk_z= 95.8mm grav_b=(+0.11,+0.12,-0.99) r=1.21m +[headless_play] t= 12.60s step= 630 trunk_z= 95.4mm grav_b=(+0.07,-0.06,-1.00) r=1.24m +[headless_play] t= 12.70s step= 635 trunk_z= 69.5mm grav_b=(+0.06,-0.46,-0.89) r=1.27m +[headless_play] t= 12.80s step= 640 trunk_z= 85.6mm grav_b=(+0.09,-0.20,-0.98) r=1.31m +[headless_play] t= 12.90s step= 645 trunk_z= 83.2mm grav_b=(-0.08,+0.20,-0.98) r=1.35m +[headless_play] t= 13.00s step= 650 trunk_z= 103.1mm grav_b=(-0.01,+0.15,-0.99) r=1.38m +[headless_play] t= 13.10s step= 655 trunk_z= 101.9mm grav_b=(+0.01,+0.03,-1.00) r=1.41m +[headless_play] t= 13.20s step= 660 trunk_z= 95.7mm grav_b=(-0.03,+0.02,-1.00) r=1.43m +[headless_play] t= 13.30s step= 665 trunk_z= 97.6mm grav_b=(+0.02,+0.14,-0.99) r=1.44m +[headless_play] t= 13.40s step= 670 trunk_z= 106.9mm grav_b=(+0.04,+0.05,-1.00) r=1.46m +[headless_play] t= 13.50s step= 675 trunk_z= 95.8mm grav_b=(-0.04,-0.01,-1.00) r=1.47m +[headless_play] t= 13.60s step= 680 trunk_z= 95.5mm grav_b=(-0.08,+0.09,-0.99) r=1.48m +[headless_play] t= 13.70s step= 685 trunk_z= 95.3mm grav_b=(-0.06,+0.03,-1.00) r=1.49m +[headless_play] t= 13.80s step= 690 trunk_z= 96.7mm grav_b=(-0.05,-0.07,-1.00) r=1.50m +[headless_play] t= 13.90s step= 695 trunk_z= 93.4mm grav_b=(-0.06,+0.10,-0.99) r=1.51m +[headless_play] t= 14.00s step= 700 trunk_z= 101.1mm grav_b=(-0.04,+0.06,-1.00) r=1.51m +[headless_play] t= 14.10s step= 705 trunk_z= 96.1mm grav_b=(-0.03,-0.10,-0.99) r=1.51m +[headless_play] t= 14.20s step= 710 trunk_z= 92.6mm grav_b=(-0.06,+0.09,-0.99) r=1.52m +[headless_play] t= 14.30s step= 715 trunk_z= 96.9mm grav_b=(-0.02,-0.01,-1.00) r=1.52m +[headless_play] t= 14.40s step= 720 trunk_z= 97.7mm grav_b=(-0.02,-0.09,-1.00) r=1.52m +[headless_play] t= 14.50s step= 725 trunk_z= 94.2mm grav_b=(-0.05,+0.12,-0.99) r=1.53m +[headless_play] t= 14.60s step= 730 trunk_z= 97.1mm grav_b=(-0.02,-0.02,-1.00) r=1.53m +[headless_play] t= 14.70s step= 735 trunk_z= 94.0mm grav_b=(-0.02,-0.03,-1.00) r=1.52m +[headless_play] t= 14.80s step= 740 trunk_z= 97.3mm grav_b=(-0.07,+0.14,-0.99) r=1.53m +[headless_play] t= 14.90s step= 745 trunk_z= 96.8mm grav_b=(-0.03,-0.03,-1.00) r=1.53m +[headless_play] t= 15.00s step= 750 trunk_z= 98.7mm grav_b=(-0.01,-0.06,-1.00) r=1.53m +[headless_play] t= 15.10s step= 755 trunk_z= 93.0mm grav_b=(-0.06,+0.17,-0.98) r=1.54m +[headless_play] t= 15.20s step= 760 trunk_z= 101.4mm grav_b=(-0.03,+0.09,-1.00) r=1.55m +[headless_play] t= 15.30s step= 765 trunk_z= 93.4mm grav_b=(-0.02,-0.10,-0.99) r=1.54m +[headless_play] t= 15.40s step= 770 trunk_z= 96.3mm grav_b=(-0.05,+0.03,-1.00) r=1.54m +[headless_play] t= 15.50s step= 775 trunk_z= 99.1mm grav_b=(-0.01,+0.14,-0.99) r=1.55m +[headless_play] t= 15.60s step= 780 trunk_z= 96.6mm grav_b=(-0.02,-0.02,-1.00) r=1.55m +[headless_play] t= 15.70s step= 785 trunk_z= 96.0mm grav_b=(-0.01,+0.01,-1.00) r=1.55m +[headless_play] t= 15.80s step= 790 trunk_z= 97.4mm grav_b=(-0.01,+0.16,-0.99) r=1.56m +[headless_play] t= 15.90s step= 795 trunk_z= 99.6mm grav_b=(-0.03,+0.00,-1.00) r=1.56m +[headless_play] t= 16.00s step= 800 trunk_z= 96.3mm grav_b=(-0.04,-0.06,-1.00) r=1.56m +[headless_play] t= 16.10s step= 805 trunk_z= 93.8mm grav_b=(-0.07,+0.15,-0.99) r=1.57m +[headless_play] t= 16.20s step= 810 trunk_z= 99.8mm grav_b=(+0.01,+0.03,-1.00) r=1.57m +[headless_play] t= 16.30s step= 815 trunk_z= 95.3mm grav_b=(-0.03,-0.10,-0.99) r=1.57m +[headless_play] t= 16.40s step= 820 trunk_z= 92.1mm grav_b=(-0.09,+0.13,-0.99) r=1.58m +[headless_play] t= 16.50s step= 825 trunk_z= 100.4mm grav_b=(-0.02,+0.07,-1.00) r=1.59m +[headless_play] t= 16.60s step= 830 trunk_z= 94.3mm grav_b=(-0.04,-0.10,-0.99) r=1.61m +[headless_play] t= 16.70s step= 835 trunk_z= 96.0mm grav_b=(-0.00,+0.02,-1.00) r=1.62m +[headless_play] t= 16.80s step= 840 trunk_z= 90.6mm grav_b=(+0.05,+0.08,-1.00) r=1.64m +[headless_play] t= 16.90s step= 845 trunk_z= 88.4mm grav_b=(-0.00,-0.08,-1.00) r=1.65m +[headless_play] t= 17.00s step= 850 trunk_z= 88.5mm grav_b=(+0.00,+0.05,-1.00) r=1.65m +[headless_play] t= 17.10s step= 855 trunk_z= 87.1mm grav_b=(+0.05,+0.05,-1.00) r=1.67m +[headless_play] t= 17.20s step= 860 trunk_z= 84.5mm grav_b=(+0.08,-0.10,-0.99) r=1.67m +[headless_play] t= 17.30s step= 865 trunk_z= 87.0mm grav_b=(+0.07,+0.03,-1.00) r=1.68m +[headless_play] t= 17.40s step= 870 trunk_z= 90.4mm grav_b=(+0.00,+0.09,-1.00) r=1.70m +[headless_play] t= 17.50s step= 875 trunk_z= 85.3mm grav_b=(+0.03,-0.08,-1.00) r=1.71m +[headless_play] t= 17.60s step= 880 trunk_z= 86.9mm grav_b=(+0.06,+0.02,-1.00) r=1.72m +[headless_play] t= 17.70s step= 885 trunk_z= 89.3mm grav_b=(+0.00,+0.11,-0.99) r=1.74m +[headless_play] t= 17.80s step= 890 trunk_z= 86.3mm grav_b=(+0.04,-0.02,-1.00) r=1.76m +[headless_play] t= 17.90s step= 895 trunk_z= 86.4mm grav_b=(+0.08,-0.03,-1.00) r=1.77m +[headless_play] t= 18.00s step= 900 trunk_z= 87.2mm grav_b=(-0.03,+0.17,-0.99) r=1.81m +[headless_play] t= 18.10s step= 905 trunk_z= 98.1mm grav_b=(-0.04,+0.11,-0.99) r=1.85m +[headless_play] t= 18.20s step= 910 trunk_z= 81.5mm grav_b=(+0.04,-0.06,-1.00) r=1.88m +[headless_play] t= 18.30s step= 915 trunk_z= 78.6mm grav_b=(+0.12,+0.19,-0.97) r=1.91m +[headless_play] t= 18.40s step= 920 trunk_z= 87.7mm grav_b=(+0.01,+0.01,-1.00) r=1.93m +[headless_play] t= 18.50s step= 925 trunk_z= 87.8mm grav_b=(+0.02,+0.02,-1.00) r=1.95m +[headless_play] t= 18.60s step= 930 trunk_z= 92.5mm grav_b=(+0.02,+0.17,-0.99) r=1.97m +[headless_play] t= 18.70s step= 935 trunk_z= 95.8mm grav_b=(+0.02,+0.13,-0.99) r=1.99m +[headless_play] t= 18.80s step= 940 trunk_z= 93.9mm grav_b=(+0.04,+0.09,-0.99) r=1.99m +[headless_play] t= 18.90s step= 945 trunk_z= 89.8mm grav_b=(+0.09,-0.01,-1.00) r=1.99m +[headless_play] t= 19.00s step= 950 trunk_z= 91.6mm grav_b=(+0.04,+0.06,-1.00) r=1.98m +[headless_play] t= 19.10s step= 955 trunk_z= 84.1mm grav_b=(+0.14,+0.10,-0.98) r=1.97m +[headless_play] t= 19.20s step= 960 trunk_z= 91.8mm grav_b=(+0.06,-0.07,-1.00) r=1.96m +[headless_play] t= 19.30s step= 965 trunk_z= 96.2mm grav_b=(-0.06,+0.01,-1.00) r=1.96m +[headless_play] t= 19.40s step= 970 trunk_z= 90.8mm grav_b=(+0.06,+0.13,-0.99) r=1.97m +[headless_play] t= 19.50s step= 975 trunk_z= 91.0mm grav_b=(+0.11,+0.02,-0.99) r=1.97m +[headless_play] t= 19.60s step= 980 trunk_z= 88.7mm grav_b=(+0.04,+0.08,-1.00) r=1.97m +[headless_play] t= 19.70s step= 985 trunk_z= 92.0mm grav_b=(-0.03,+0.07,-1.00) r=1.98m +[headless_play] t= 19.80s step= 990 trunk_z= 89.3mm grav_b=(-0.02,-0.06,-1.00) r=1.98m +[headless_play] t= 19.90s step= 995 trunk_z= 88.7mm grav_b=(+0.05,+0.03,-1.00) r=1.98m +[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery) +[headless_play] t= 20.00s step=1000 trunk_z= 120.9mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) r=0.17m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t4.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..68c242f83178a4c2215c9cae29b2a0a11d8a3a82 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t4.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-1.929,-18.199,+0.250) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 117.8mm grav_b=(-0.02,-0.01,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 119.2mm grav_b=(+0.01,-0.02,-1.00) r=0.21m +[headless_play] t= 0.30s step= 15 trunk_z= 120.6mm grav_b=(+0.04,-0.04,-1.00) r=0.22m +[headless_play] t= 0.40s step= 20 trunk_z= 121.9mm grav_b=(+0.01,+0.01,-1.00) r=0.22m +[headless_play] t= 0.50s step= 25 trunk_z= 121.9mm grav_b=(+0.01,+0.05,-1.00) r=0.23m +[headless_play] t= 0.60s step= 30 trunk_z= 120.2mm grav_b=(+0.02,-0.15,-0.99) r=0.24m +[headless_play] t= 0.70s step= 35 trunk_z= 124.5mm grav_b=(-0.01,-0.08,-1.00) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 122.2mm grav_b=(-0.04,+0.05,-1.00) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 120.1mm grav_b=(+0.00,-0.08,-1.00) r=0.29m +[headless_play] t= 1.00s step= 50 trunk_z= 123.3mm grav_b=(+0.04,-0.10,-0.99) r=0.30m +[headless_play] t= 1.10s step= 55 trunk_z= 118.0mm grav_b=(-0.05,+0.05,-1.00) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 124.2mm grav_b=(-0.03,+0.04,-1.00) r=0.35m +[headless_play] t= 1.30s step= 65 trunk_z= 119.7mm grav_b=(+0.03,-0.13,-0.99) r=0.36m +[headless_play] t= 1.40s step= 70 trunk_z= 125.0mm grav_b=(+0.02,-0.04,-1.00) r=0.38m +[headless_play] t= 1.50s step= 75 trunk_z= 123.3mm grav_b=(-0.01,+0.08,-1.00) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 121.2mm grav_b=(-0.02,-0.05,-1.00) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 121.6mm grav_b=(+0.01,-0.07,-1.00) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 119.3mm grav_b=(-0.02,+0.08,-1.00) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 127.5mm grav_b=(-0.01,+0.05,-1.00) r=0.48m +[headless_play] t= 2.00s step= 100 trunk_z= 119.0mm grav_b=(-0.00,-0.11,-0.99) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 123.5mm grav_b=(+0.01,-0.05,-1.00) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 123.4mm grav_b=(-0.00,+0.07,-1.00) r=0.53m +[headless_play] t= 2.30s step= 115 trunk_z= 131.5mm grav_b=(+0.02,+0.06,-1.00) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 122.3mm grav_b=(-0.00,-0.04,-1.00) r=0.57m +[headless_play] t= 2.50s step= 125 trunk_z= 130.1mm grav_b=(-0.12,-0.05,-0.99) r=0.58m +[headless_play] t= 2.60s step= 130 trunk_z= 126.1mm grav_b=(-0.05,-0.07,-1.00) r=0.61m +[headless_play] t= 2.70s step= 135 trunk_z= 121.7mm grav_b=(-0.03,+0.01,-1.00) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 119.1mm grav_b=(+0.00,-0.11,-0.99) r=0.65m +[headless_play] t= 2.90s step= 145 trunk_z= 123.7mm grav_b=(-0.03,+0.07,-1.00) r=0.66m +[headless_play] t= 3.00s step= 150 trunk_z= 112.2mm grav_b=(-0.09,+0.13,-0.99) r=0.69m +[headless_play] t= 3.10s step= 155 trunk_z= 121.3mm grav_b=(-0.02,+0.04,-1.00) r=0.71m +[headless_play] t= 3.20s step= 160 trunk_z= 125.0mm grav_b=(+0.02,-0.08,-1.00) r=0.72m +[headless_play] t= 3.30s step= 165 trunk_z= 123.8mm grav_b=(-0.05,+0.03,-1.00) r=0.73m +[headless_play] t= 3.40s step= 170 trunk_z= 124.6mm grav_b=(+0.02,+0.05,-1.00) r=0.75m +[headless_play] t= 3.50s step= 175 trunk_z= 119.5mm grav_b=(-0.03,-0.10,-0.99) r=0.76m +[headless_play] t= 3.60s step= 180 trunk_z= 125.0mm grav_b=(-0.01,-0.09,-1.00) r=0.77m +[headless_play] t= 3.70s step= 185 trunk_z= 121.5mm grav_b=(-0.04,-0.01,-1.00) r=0.79m +[headless_play] t= 3.80s step= 190 trunk_z= 121.5mm grav_b=(-0.05,+0.01,-1.00) r=0.82m +[headless_play] t= 3.90s step= 195 trunk_z= 121.4mm grav_b=(+0.01,-0.08,-1.00) r=0.83m +[headless_play] t= 4.00s step= 200 trunk_z= 125.5mm grav_b=(-0.01,+0.00,-1.00) r=0.85m +[headless_play] t= 4.10s step= 205 trunk_z= 120.8mm grav_b=(-0.03,+0.06,-1.00) r=0.87m +[headless_play] t= 4.20s step= 210 trunk_z= 119.5mm grav_b=(-0.03,-0.11,-0.99) r=0.89m +[headless_play] t= 4.30s step= 215 trunk_z= 120.9mm grav_b=(-0.01,-0.08,-1.00) r=0.91m +[headless_play] t= 4.40s step= 220 trunk_z= 121.9mm grav_b=(-0.04,+0.02,-1.00) r=0.93m +[headless_play] t= 4.50s step= 225 trunk_z= 128.3mm grav_b=(-0.03,+0.11,-0.99) r=0.96m +[headless_play] t= 4.60s step= 230 trunk_z= 128.4mm grav_b=(+0.02,+0.03,-1.00) r=0.98m +[headless_play] t= 4.70s step= 235 trunk_z= 115.0mm grav_b=(-0.05,-0.09,-1.00) r=1.00m +[headless_play] t= 4.80s step= 240 trunk_z= 120.3mm grav_b=(-0.03,-0.06,-1.00) r=1.02m +[headless_play] t= 4.90s step= 245 trunk_z= 112.9mm grav_b=(-0.02,+0.02,-1.00) r=1.06m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(+0.03,+0.02,-1.00) r=1.09m +[headless_play] t= 5.10s step= 255 trunk_z= 96.2mm grav_b=(-0.06,-0.17,-0.98) r=1.12m +[headless_play] t= 5.20s step= 260 trunk_z= 99.2mm grav_b=(-0.07,-0.09,-0.99) r=1.16m +[headless_play] t= 5.30s step= 265 trunk_z= 91.8mm grav_b=(-0.07,+0.04,-1.00) r=1.21m +[headless_play] t= 5.40s step= 270 trunk_z= 90.2mm grav_b=(-0.10,+0.16,-0.98) r=1.26m +[headless_play] t= 5.50s step= 275 trunk_z= 80.8mm grav_b=(+0.03,-0.01,-1.00) r=1.32m +[headless_play] t= 5.60s step= 280 trunk_z= 72.1mm grav_b=(+0.07,-0.04,-1.00) r=1.36m +[headless_play] t= 5.70s step= 285 trunk_z= 56.5mm grav_b=(-0.02,+0.22,-0.98) r=1.40m +[headless_play] t= 5.80s step= 290 trunk_z= 68.5mm grav_b=(+0.15,+0.27,-0.95) r=1.45m +[headless_play] t= 5.90s step= 295 trunk_z= 57.0mm grav_b=(+0.37,-0.16,-0.91) r=1.51m +[headless_play] t= 6.00s step= 300 trunk_z= 4.2mm grav_b=(+0.14,-0.60,-0.79) r=1.54m +[headless_play] t= 6.10s step= 305 trunk_z= -3.5mm grav_b=(-0.11,-0.82,-0.56) r=1.56m +[headless_play] RESET at t= 6.20s step= 310 (env termination, not a recovery) +[headless_play] t= 6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.00,+0.00,-1.00) r=0.50m +[headless_play] t= 6.30s step= 315 trunk_z= 116.3mm grav_b=(-0.01,+0.01,-1.00) r=0.49m +[headless_play] t= 6.40s step= 320 trunk_z= 118.0mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 6.50s step= 325 trunk_z= 116.2mm grav_b=(-0.01,-0.06,-1.00) r=0.48m +[headless_play] t= 6.60s step= 330 trunk_z= 116.2mm grav_b=(-0.05,+0.02,-1.00) r=0.47m +[headless_play] t= 6.70s step= 335 trunk_z= 116.6mm grav_b=(-0.04,+0.01,-1.00) r=0.46m +[headless_play] t= 6.80s step= 340 trunk_z= 113.7mm grav_b=(-0.01,-0.02,-1.00) r=0.45m +[headless_play] t= 6.90s step= 345 trunk_z= 113.6mm grav_b=(+0.02,-0.05,-1.00) r=0.44m +[headless_play] t= 7.00s step= 350 trunk_z= 108.3mm grav_b=(+0.05,+0.04,-1.00) r=0.43m +[headless_play] t= 7.10s step= 355 trunk_z= 111.1mm grav_b=(+0.01,+0.00,-1.00) r=0.42m +[headless_play] t= 7.20s step= 360 trunk_z= 105.9mm grav_b=(+0.01,-0.09,-1.00) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 111.6mm grav_b=(+0.04,-0.01,-1.00) r=0.41m +[headless_play] t= 7.40s step= 370 trunk_z= 107.4mm grav_b=(+0.05,+0.04,-1.00) r=0.40m +[headless_play] t= 7.50s step= 375 trunk_z= 108.0mm grav_b=(-0.02,-0.09,-1.00) r=0.39m +[headless_play] t= 7.60s step= 380 trunk_z= 111.2mm grav_b=(+0.01,-0.04,-1.00) r=0.38m +[headless_play] t= 7.70s step= 385 trunk_z= 106.7mm grav_b=(+0.04,+0.07,-1.00) r=0.37m +[headless_play] t= 7.80s step= 390 trunk_z= 112.8mm grav_b=(-0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 7.90s step= 395 trunk_z= 111.8mm grav_b=(-0.00,-0.00,-1.00) r=0.36m +[headless_play] t= 8.00s step= 400 trunk_z= 110.5mm grav_b=(+0.00,-0.06,-1.00) r=0.35m +[headless_play] t= 8.10s step= 405 trunk_z= 112.5mm grav_b=(+0.02,+0.01,-1.00) r=0.34m +[headless_play] t= 8.20s step= 410 trunk_z= 107.7mm grav_b=(+0.08,+0.04,-1.00) r=0.34m +[headless_play] t= 8.30s step= 415 trunk_z= 111.4mm grav_b=(-0.04,-0.06,-1.00) r=0.33m +[headless_play] t= 8.40s step= 420 trunk_z= 113.4mm grav_b=(-0.11,-0.10,-0.99) r=0.33m +[headless_play] t= 8.50s step= 425 trunk_z= 109.6mm grav_b=(-0.13,+0.04,-0.99) r=0.33m +[headless_play] t= 8.60s step= 430 trunk_z= 89.9mm grav_b=(-0.13,+0.12,-0.98) r=0.33m +[headless_play] t= 8.70s step= 435 trunk_z= 101.3mm grav_b=(-0.01,+0.03,-1.00) r=0.33m +[headless_play] t= 8.80s step= 440 trunk_z= 113.4mm grav_b=(+0.04,-0.03,-1.00) r=0.34m +[headless_play] t= 8.90s step= 445 trunk_z= 108.6mm grav_b=(+0.07,+0.09,-0.99) r=0.33m +[headless_play] t= 9.00s step= 450 trunk_z= 112.9mm grav_b=(-0.01,-0.02,-1.00) r=0.31m +[headless_play] t= 9.10s step= 455 trunk_z= 114.3mm grav_b=(-0.03,-0.06,-1.00) r=0.30m +[headless_play] t= 9.20s step= 460 trunk_z= 109.7mm grav_b=(+0.04,+0.03,-1.00) r=0.29m +[headless_play] t= 9.30s step= 465 trunk_z= 113.5mm grav_b=(-0.02,+0.05,-1.00) r=0.28m +[headless_play] t= 9.40s step= 470 trunk_z= 112.3mm grav_b=(+0.01,+0.04,-1.00) r=0.28m +[headless_play] t= 9.50s step= 475 trunk_z= 110.6mm grav_b=(+0.03,-0.04,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 114.6mm grav_b=(+0.01,-0.01,-1.00) r=0.27m +[headless_play] t= 9.70s step= 485 trunk_z= 110.7mm grav_b=(+0.02,+0.04,-1.00) r=0.26m +[headless_play] t= 9.80s step= 490 trunk_z= 112.1mm grav_b=(-0.01,+0.01,-1.00) r=0.25m +[headless_play] t= 9.90s step= 495 trunk_z= 107.1mm grav_b=(+0.02,-0.08,-1.00) r=0.25m +[headless_play] t= 10.00s step= 500 trunk_z= 112.7mm grav_b=(+0.04,-0.02,-1.00) r=0.24m +[headless_play] t= 10.10s step= 505 trunk_z= 107.8mm grav_b=(+0.07,+0.04,-1.00) r=0.23m +[headless_play] t= 10.20s step= 510 trunk_z= 112.6mm grav_b=(-0.00,-0.04,-1.00) r=0.23m +[headless_play] t= 10.30s step= 515 trunk_z= 106.8mm grav_b=(+0.02,-0.14,-0.99) r=0.23m +[headless_play] t= 10.40s step= 520 trunk_z= 115.2mm grav_b=(+0.04,+0.03,-1.00) r=0.22m +[headless_play] t= 10.50s step= 525 trunk_z= 122.0mm grav_b=(+0.00,+0.13,-0.99) r=0.21m +[headless_play] t= 10.60s step= 530 trunk_z= 120.6mm grav_b=(+0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 10.70s step= 535 trunk_z= 122.6mm grav_b=(-0.03,-0.09,-1.00) r=0.18m +[headless_play] t= 10.80s step= 540 trunk_z= 118.8mm grav_b=(-0.08,+0.03,-1.00) r=0.17m +[headless_play] t= 10.90s step= 545 trunk_z= 121.3mm grav_b=(-0.03,+0.05,-1.00) r=0.15m +[headless_play] t= 11.00s step= 550 trunk_z= 116.6mm grav_b=(-0.00,-0.10,-1.00) r=0.15m +[headless_play] t= 11.10s step= 555 trunk_z= 123.6mm grav_b=(+0.01,-0.10,-0.99) r=0.14m +[headless_play] t= 11.20s step= 560 trunk_z= 115.4mm grav_b=(-0.00,+0.07,-1.00) r=0.13m +[headless_play] t= 11.30s step= 565 trunk_z= 121.3mm grav_b=(-0.06,-0.00,-1.00) r=0.11m +[headless_play] t= 11.40s step= 570 trunk_z= 120.3mm grav_b=(+0.05,-0.13,-0.99) r=0.11m +[headless_play] t= 11.50s step= 575 trunk_z= 122.2mm grav_b=(+0.11,-0.06,-0.99) r=0.10m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(-0.06,+0.10,-0.99) r=0.10m +[headless_play] t= 11.70s step= 585 trunk_z= 121.9mm grav_b=(-0.07,+0.00,-1.00) r=0.11m +[headless_play] t= 11.80s step= 590 trunk_z= 122.8mm grav_b=(-0.00,-0.12,-0.99) r=0.13m +[headless_play] t= 11.90s step= 595 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.13m +[headless_play] t= 12.00s step= 600 trunk_z= 124.4mm grav_b=(-0.02,+0.06,-1.00) r=0.13m +[headless_play] t= 12.10s step= 605 trunk_z= 117.1mm grav_b=(-0.04,-0.11,-0.99) r=0.14m +[headless_play] t= 12.20s step= 610 trunk_z= 121.2mm grav_b=(-0.00,-0.06,-1.00) r=0.15m +[headless_play] t= 12.30s step= 615 trunk_z= 118.5mm grav_b=(-0.01,+0.09,-1.00) r=0.16m +[headless_play] t= 12.40s step= 620 trunk_z= 118.7mm grav_b=(-0.03,-0.03,-1.00) r=0.17m +[headless_play] t= 12.50s step= 625 trunk_z= 120.1mm grav_b=(-0.01,-0.07,-1.00) r=0.19m +[headless_play] t= 12.60s step= 630 trunk_z= 116.0mm grav_b=(-0.01,+0.07,-1.00) r=0.20m +[headless_play] t= 12.70s step= 635 trunk_z= 115.7mm grav_b=(-0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 12.80s step= 640 trunk_z= 115.4mm grav_b=(+0.01,-0.01,-1.00) r=0.23m +[headless_play] t= 12.90s step= 645 trunk_z= 116.8mm grav_b=(+0.00,+0.05,-1.00) r=0.24m +[headless_play] t= 13.00s step= 650 trunk_z= 117.0mm grav_b=(-0.02,-0.08,-1.00) r=0.26m +[headless_play] t= 13.10s step= 655 trunk_z= 115.3mm grav_b=(-0.03,+0.05,-1.00) r=0.27m +[headless_play] t= 13.20s step= 660 trunk_z= 118.3mm grav_b=(-0.00,+0.04,-1.00) r=0.28m +[headless_play] t= 13.30s step= 665 trunk_z= 117.1mm grav_b=(-0.00,-0.10,-0.99) r=0.30m +[headless_play] t= 13.40s step= 670 trunk_z= 118.5mm grav_b=(-0.00,-0.00,-1.00) r=0.32m +[headless_play] t= 13.50s step= 675 trunk_z= 119.9mm grav_b=(-0.00,+0.05,-1.00) r=0.33m +[headless_play] t= 13.60s step= 680 trunk_z= 116.2mm grav_b=(-0.02,-0.09,-1.00) r=0.35m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(-0.01,-0.02,-1.00) r=0.36m +[headless_play] t= 13.80s step= 690 trunk_z= 118.5mm grav_b=(+0.00,+0.06,-1.00) r=0.38m +[headless_play] t= 13.90s step= 695 trunk_z= 116.4mm grav_b=(-0.03,-0.09,-1.00) r=0.39m +[headless_play] t= 14.00s step= 700 trunk_z= 121.5mm grav_b=(-0.02,-0.08,-1.00) r=0.40m +[headless_play] t= 14.10s step= 705 trunk_z= 117.9mm grav_b=(-0.01,+0.08,-1.00) r=0.42m +[headless_play] t= 14.20s step= 710 trunk_z= 117.9mm grav_b=(-0.01,-0.04,-1.00) r=0.43m +[headless_play] t= 14.30s step= 715 trunk_z= 121.0mm grav_b=(-0.00,-0.06,-1.00) r=0.44m +[headless_play] t= 14.40s step= 720 trunk_z= 118.6mm grav_b=(-0.02,+0.08,-1.00) r=0.46m +[headless_play] t= 14.50s step= 725 trunk_z= 118.2mm grav_b=(-0.05,-0.04,-1.00) r=0.46m +[headless_play] t= 14.60s step= 730 trunk_z= 122.0mm grav_b=(-0.11,-0.07,-0.99) r=0.47m +[headless_play] t= 14.70s step= 735 trunk_z= 111.4mm grav_b=(-0.17,+0.03,-0.99) r=0.46m +[headless_play] t= 14.80s step= 740 trunk_z= 113.2mm grav_b=(-0.36,-0.11,-0.93) r=0.45m +[headless_play] t= 14.90s step= 745 trunk_z= 84.5mm grav_b=(-0.39,-0.29,-0.87) r=0.43m +[headless_play] t= 15.00s step= 750 trunk_z= 89.9mm grav_b=(-0.24,-0.07,-0.97) r=0.41m +[headless_play] t= 15.10s step= 755 trunk_z= 85.4mm grav_b=(-0.26,+0.27,-0.93) r=0.38m +[headless_play] t= 15.20s step= 760 trunk_z= 101.0mm grav_b=(-0.32,+0.19,-0.93) r=0.36m +[headless_play] t= 15.30s step= 765 trunk_z= 105.0mm grav_b=(-0.08,-0.20,-0.98) r=0.33m +[headless_play] t= 15.40s step= 770 trunk_z= 108.2mm grav_b=(+0.18,-0.12,-0.98) r=0.30m +[headless_play] t= 15.50s step= 775 trunk_z= 112.7mm grav_b=(-0.01,+0.06,-1.00) r=0.28m +[headless_play] t= 15.60s step= 780 trunk_z= 120.4mm grav_b=(-0.14,+0.01,-0.99) r=0.28m +[headless_play] t= 15.70s step= 785 trunk_z= 117.6mm grav_b=(-0.07,-0.09,-0.99) r=0.30m +[headless_play] t= 15.80s step= 790 trunk_z= 115.6mm grav_b=(-0.01,-0.05,-1.00) r=0.30m +[headless_play] t= 15.90s step= 795 trunk_z= 110.4mm grav_b=(+0.04,+0.00,-1.00) r=0.31m +[headless_play] t= 16.00s step= 800 trunk_z= 114.0mm grav_b=(-0.03,-0.07,-1.00) r=0.32m +[headless_play] t= 16.10s step= 805 trunk_z= 111.4mm grav_b=(-0.02,-0.10,-0.99) r=0.32m +[headless_play] t= 16.20s step= 810 trunk_z= 109.8mm grav_b=(+0.05,+0.03,-1.00) r=0.33m +[headless_play] t= 16.30s step= 815 trunk_z= 107.6mm grav_b=(+0.04,+0.05,-1.00) r=0.34m +[headless_play] t= 16.40s step= 820 trunk_z= 111.3mm grav_b=(-0.01,-0.01,-1.00) r=0.34m +[headless_play] t= 16.50s step= 825 trunk_z= 114.2mm grav_b=(-0.02,-0.10,-1.00) r=0.34m +[headless_play] t= 16.60s step= 830 trunk_z= 115.1mm grav_b=(-0.01,-0.03,-1.00) r=0.35m +[headless_play] t= 16.70s step= 835 trunk_z= 111.1mm grav_b=(+0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 16.80s step= 840 trunk_z= 112.3mm grav_b=(-0.01,+0.01,-1.00) r=0.37m +[headless_play] t= 16.90s step= 845 trunk_z= 111.8mm grav_b=(-0.01,-0.04,-1.00) r=0.37m +[headless_play] t= 17.00s step= 850 trunk_z= 116.5mm grav_b=(+0.02,-0.06,-1.00) r=0.38m +[headless_play] t= 17.10s step= 855 trunk_z= 116.6mm grav_b=(-0.03,+0.12,-0.99) r=0.39m +[headless_play] t= 17.20s step= 860 trunk_z= 120.9mm grav_b=(-0.01,+0.01,-1.00) r=0.40m +[headless_play] t= 17.30s step= 865 trunk_z= 123.9mm grav_b=(-0.05,-0.12,-0.99) r=0.42m +[headless_play] t= 17.40s step= 870 trunk_z= 121.9mm grav_b=(-0.04,-0.03,-1.00) r=0.43m +[headless_play] t= 17.50s step= 875 trunk_z= 121.6mm grav_b=(-0.06,+0.03,-1.00) r=0.44m +[headless_play] t= 17.60s step= 880 trunk_z= 119.4mm grav_b=(-0.05,-0.10,-0.99) r=0.45m +[headless_play] t= 17.70s step= 885 trunk_z= 124.4mm grav_b=(-0.03,-0.08,-1.00) r=0.46m +[headless_play] t= 17.80s step= 890 trunk_z= 118.9mm grav_b=(-0.02,+0.07,-1.00) r=0.47m +[headless_play] t= 17.90s step= 895 trunk_z= 120.2mm grav_b=(-0.03,-0.01,-1.00) r=0.48m +[headless_play] t= 18.00s step= 900 trunk_z= 123.2mm grav_b=(-0.04,-0.10,-0.99) r=0.50m +[headless_play] t= 18.10s step= 905 trunk_z= 120.2mm grav_b=(-0.04,+0.00,-1.00) r=0.51m +[headless_play] t= 18.20s step= 910 trunk_z= 121.9mm grav_b=(-0.04,+0.05,-1.00) r=0.52m +[headless_play] t= 18.30s step= 915 trunk_z= 118.2mm grav_b=(-0.04,-0.09,-1.00) r=0.53m +[headless_play] t= 18.40s step= 920 trunk_z= 122.7mm grav_b=(-0.03,-0.04,-1.00) r=0.54m +[headless_play] t= 18.50s step= 925 trunk_z= 121.7mm grav_b=(-0.02,+0.09,-1.00) r=0.55m +[headless_play] t= 18.60s step= 930 trunk_z= 119.6mm grav_b=(-0.01,-0.01,-1.00) r=0.56m +[headless_play] t= 18.70s step= 935 trunk_z= 124.0mm grav_b=(-0.03,-0.08,-1.00) r=0.58m +[headless_play] t= 18.80s step= 940 trunk_z= 117.7mm grav_b=(-0.03,+0.05,-1.00) r=0.59m +[headless_play] t= 18.90s step= 945 trunk_z= 121.9mm grav_b=(-0.05,+0.04,-1.00) r=0.60m +[headless_play] t= 19.00s step= 950 trunk_z= 120.1mm grav_b=(-0.03,-0.10,-0.99) r=0.62m +[headless_play] t= 19.10s step= 955 trunk_z= 122.1mm grav_b=(-0.00,-0.05,-1.00) r=0.62m +[headless_play] t= 19.20s step= 960 trunk_z= 122.1mm grav_b=(-0.03,+0.09,-1.00) r=0.63m +[headless_play] t= 19.30s step= 965 trunk_z= 120.3mm grav_b=(-0.05,-0.01,-1.00) r=0.64m +[headless_play] t= 19.40s step= 970 trunk_z= 123.6mm grav_b=(-0.06,-0.08,-0.99) r=0.66m +[headless_play] t= 19.50s step= 975 trunk_z= 119.7mm grav_b=(-0.07,+0.02,-1.00) r=0.66m +[headless_play] t= 19.60s step= 980 trunk_z= 121.2mm grav_b=(-0.02,+0.03,-1.00) r=0.66m +[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(-0.01,-0.09,-1.00) r=0.67m +[headless_play] t= 19.80s step= 990 trunk_z= 122.7mm grav_b=(-0.03,-0.05,-1.00) r=0.68m +[headless_play] t= 19.90s step= 995 trunk_z= 122.2mm grav_b=(-0.05,+0.08,-1.00) r=0.69m +[headless_play] t= 20.00s step=1000 trunk_z= 120.6mm grav_b=(-0.03,+0.00,-1.00) r=0.70m +[headless_play] t= 20.10s step=1005 trunk_z= 123.1mm grav_b=(-0.04,-0.09,-1.00) r=0.71m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t5.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..413332b7d506abe031c1c4890ce149945fce8528 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t5.log @@ -0,0 +1,211 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 123.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(-2.060,-17.514,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 120.4mm grav_b=(-0.01,-0.00,-1.00) r=0.49m +[headless_play] t= 0.10s step= 5 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00) r=0.48m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.04,+0.01,-1.00) r=0.48m +[headless_play] t= 0.30s step= 15 trunk_z= 117.4mm grav_b=(+0.01,-0.02,-1.00) r=0.48m +[headless_play] t= 0.40s step= 20 trunk_z= 114.9mm grav_b=(-0.04,+0.05,-1.00) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 117.2mm grav_b=(-0.03,+0.01,-1.00) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 112.1mm grav_b=(+0.03,-0.09,-1.00) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 121.8mm grav_b=(+0.00,+0.09,-1.00) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 114.2mm grav_b=(+0.00,-0.04,-1.00) r=0.40m +[headless_play] t= 1.00s step= 50 trunk_z= 116.7mm grav_b=(+0.04,-0.03,-1.00) r=0.39m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(-0.00,+0.12,-0.99) r=0.38m +[headless_play] t= 1.20s step= 60 trunk_z= 118.7mm grav_b=(-0.02,+0.04,-1.00) r=0.37m +[headless_play] t= 1.30s step= 65 trunk_z= 116.5mm grav_b=(+0.03,-0.08,-1.00) r=0.37m +[headless_play] t= 1.40s step= 70 trunk_z= 114.3mm grav_b=(+0.04,+0.03,-1.00) r=0.37m +[headless_play] t= 1.50s step= 75 trunk_z= 117.5mm grav_b=(+0.01,+0.04,-1.00) r=0.36m +[headless_play] t= 1.60s step= 80 trunk_z= 116.3mm grav_b=(+0.01,-0.09,-1.00) r=0.36m +[headless_play] t= 1.70s step= 85 trunk_z= 114.3mm grav_b=(+0.05,+0.01,-1.00) r=0.36m +[headless_play] t= 1.80s step= 90 trunk_z= 119.9mm grav_b=(+0.05,+0.10,-0.99) r=0.35m +[headless_play] t= 1.90s step= 95 trunk_z= 115.5mm grav_b=(-0.01,-0.05,-1.00) r=0.35m +[headless_play] t= 2.00s step= 100 trunk_z= 118.2mm grav_b=(+0.04,-0.08,-1.00) r=0.35m +[headless_play] t= 2.10s step= 105 trunk_z= 112.0mm grav_b=(+0.03,+0.12,-0.99) r=0.35m +[headless_play] t= 2.20s step= 110 trunk_z= 122.8mm grav_b=(+0.02,+0.09,-1.00) r=0.35m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.01,-0.10,-0.99) r=0.36m +[headless_play] t= 2.40s step= 120 trunk_z= 118.4mm grav_b=(+0.06,-0.07,-1.00) r=0.36m +[headless_play] t= 2.50s step= 125 trunk_z= 116.6mm grav_b=(+0.02,+0.11,-0.99) r=0.37m +[headless_play] t= 2.60s step= 130 trunk_z= 118.8mm grav_b=(-0.01,-0.01,-1.00) r=0.38m +[headless_play] t= 2.70s step= 135 trunk_z= 119.3mm grav_b=(+0.04,-0.12,-0.99) r=0.39m +[headless_play] t= 2.80s step= 140 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.39m +[headless_play] t= 2.90s step= 145 trunk_z= 121.5mm grav_b=(-0.01,+0.09,-1.00) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(-0.00,-0.06,-1.00) r=0.41m +[headless_play] t= 3.10s step= 155 trunk_z= 117.4mm grav_b=(+0.07,-0.07,-1.00) r=0.43m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.03,+0.12,-0.99) r=0.43m +[headless_play] t= 3.30s step= 165 trunk_z= 120.7mm grav_b=(-0.01,+0.05,-1.00) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 116.6mm grav_b=(+0.02,-0.10,-0.99) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 116.9mm grav_b=(+0.06,-0.02,-1.00) r=0.47m +[headless_play] t= 3.60s step= 180 trunk_z= 119.0mm grav_b=(+0.06,+0.12,-0.99) r=0.48m +[headless_play] t= 3.70s step= 185 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00) r=0.50m +[headless_play] t= 3.80s step= 190 trunk_z= 120.0mm grav_b=(+0.01,-0.11,-0.99) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 114.7mm grav_b=(+0.06,+0.00,-1.00) r=0.53m +[headless_play] t= 4.00s step= 200 trunk_z= 118.8mm grav_b=(+0.07,+0.08,-0.99) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(-0.03,-0.10,-0.99) r=0.55m +[headless_play] t= 4.20s step= 210 trunk_z= 123.0mm grav_b=(+0.01,-0.13,-0.99) r=0.58m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(+0.10,+0.00,-0.99) r=0.64m +[headless_play] t= 4.40s step= 220 trunk_z= 121.2mm grav_b=(-0.01,-0.12,-0.99) r=0.68m +[headless_play] t= 4.50s step= 225 trunk_z= 127.3mm grav_b=(+0.04,-0.21,-0.98) r=0.72m +[headless_play] t= 4.60s step= 230 trunk_z= 130.6mm grav_b=(+0.07,-0.18,-0.98) r=0.75m +[headless_play] t= 4.70s step= 235 trunk_z= 116.7mm grav_b=(+0.00,-0.03,-1.00) r=0.78m +[headless_play] t= 4.80s step= 240 trunk_z= 120.2mm grav_b=(-0.13,+0.08,-0.99) r=0.81m +[headless_play] t= 4.90s step= 245 trunk_z= 118.6mm grav_b=(-0.05,+0.05,-1.00) r=0.85m +[headless_play] t= 5.00s step= 250 trunk_z= 95.9mm grav_b=(+0.06,-0.03,-1.00) r=0.88m +[headless_play] t= 5.10s step= 255 trunk_z= 94.0mm grav_b=(+0.02,+0.12,-0.99) r=0.90m +[headless_play] t= 5.20s step= 260 trunk_z= 106.0mm grav_b=(+0.01,+0.06,-1.00) r=0.93m +[headless_play] t= 5.30s step= 265 trunk_z= 88.7mm grav_b=(-0.02,-0.11,-0.99) r=0.97m +[headless_play] t= 5.40s step= 270 trunk_z= 90.2mm grav_b=(-0.15,+0.00,-0.99) r=1.00m +[headless_play] t= 5.50s step= 275 trunk_z= 94.2mm grav_b=(-0.10,+0.07,-0.99) r=1.04m +[headless_play] t= 5.60s step= 280 trunk_z= 94.9mm grav_b=(+0.03,-0.05,-1.00) r=1.06m +[headless_play] t= 5.70s step= 285 trunk_z= 100.2mm grav_b=(+0.04,-0.08,-1.00) r=1.07m +[headless_play] t= 5.80s step= 290 trunk_z= 87.7mm grav_b=(-0.04,+0.13,-0.99) r=1.09m +[headless_play] t= 5.90s step= 295 trunk_z= 93.5mm grav_b=(-0.09,+0.04,-1.00) r=1.10m +[headless_play] t= 6.00s step= 300 trunk_z= 93.4mm grav_b=(-0.04,-0.08,-1.00) r=1.12m +[headless_play] t= 6.10s step= 305 trunk_z= 98.2mm grav_b=(-0.09,-0.00,-1.00) r=1.13m +[headless_play] t= 6.20s step= 310 trunk_z= 97.0mm grav_b=(-0.04,+0.10,-0.99) r=1.14m +[headless_play] t= 6.30s step= 315 trunk_z= 95.5mm grav_b=(+0.02,-0.06,-1.00) r=1.16m +[headless_play] t= 6.40s step= 320 trunk_z= 98.1mm grav_b=(+0.02,-0.13,-0.99) r=1.17m +[headless_play] t= 6.50s step= 325 trunk_z= 99.8mm grav_b=(-0.07,-0.05,-1.00) r=1.19m +[headless_play] t= 6.60s step= 330 trunk_z= 96.7mm grav_b=(-0.12,+0.08,-0.99) r=1.22m +[headless_play] t= 6.70s step= 335 trunk_z= 97.7mm grav_b=(-0.01,+0.01,-1.00) r=1.24m +[headless_play] t= 6.80s step= 340 trunk_z= 97.7mm grav_b=(-0.01,-0.06,-1.00) r=1.25m +[headless_play] t= 6.90s step= 345 trunk_z= 93.8mm grav_b=(-0.05,+0.08,-1.00) r=1.26m +[headless_play] t= 7.00s step= 350 trunk_z= 103.9mm grav_b=(-0.00,+0.07,-1.00) r=1.28m +[headless_play] t= 7.10s step= 355 trunk_z= 90.7mm grav_b=(-0.01,-0.09,-1.00) r=1.31m +[headless_play] t= 7.20s step= 360 trunk_z= 97.7mm grav_b=(-0.07,-0.00,-1.00) r=1.33m +[headless_play] t= 7.30s step= 365 trunk_z= 93.4mm grav_b=(-0.10,+0.12,-0.99) r=1.35m +[headless_play] t= 7.40s step= 370 trunk_z= 98.1mm grav_b=(-0.04,+0.03,-1.00) r=1.38m +[headless_play] t= 7.50s step= 375 trunk_z= 98.7mm grav_b=(-0.01,-0.08,-1.00) r=1.40m +[headless_play] t= 7.60s step= 380 trunk_z= 95.1mm grav_b=(-0.04,+0.04,-1.00) r=1.41m +[headless_play] t= 7.70s step= 385 trunk_z= 101.9mm grav_b=(-0.02,+0.06,-1.00) r=1.42m +[headless_play] t= 7.80s step= 390 trunk_z= 91.0mm grav_b=(-0.04,-0.11,-0.99) r=1.45m +[headless_play] t= 7.90s step= 395 trunk_z= 95.8mm grav_b=(-0.05,-0.01,-1.00) r=1.47m +[headless_play] t= 8.00s step= 400 trunk_z= 96.6mm grav_b=(-0.09,+0.10,-0.99) r=1.49m +[headless_play] t= 8.10s step= 405 trunk_z= 96.9mm grav_b=(-0.04,-0.01,-1.00) r=1.51m +[headless_play] t= 8.20s step= 410 trunk_z= 98.0mm grav_b=(+0.00,-0.05,-1.00) r=1.52m +[headless_play] t= 8.30s step= 415 trunk_z= 92.5mm grav_b=(-0.05,+0.10,-0.99) r=1.54m +[headless_play] t= 8.40s step= 420 trunk_z= 98.1mm grav_b=(-0.01,+0.02,-1.00) r=1.56m +[headless_play] t= 8.50s step= 425 trunk_z= 92.4mm grav_b=(-0.01,-0.08,-1.00) r=1.58m +[headless_play] t= 8.60s step= 430 trunk_z= 94.0mm grav_b=(-0.05,+0.06,-1.00) r=1.59m +[headless_play] t= 8.70s step= 435 trunk_z= 100.3mm grav_b=(-0.05,+0.11,-0.99) r=1.61m +[headless_play] t= 8.80s step= 440 trunk_z= 96.4mm grav_b=(-0.03,-0.02,-1.00) r=1.63m +[headless_play] t= 8.90s step= 445 trunk_z= 96.4mm grav_b=(-0.01,-0.05,-1.00) r=1.65m +[headless_play] t= 9.00s step= 450 trunk_z= 93.9mm grav_b=(-0.03,+0.12,-0.99) r=1.67m +[headless_play] t= 9.10s step= 455 trunk_z= 98.7mm grav_b=(-0.00,+0.03,-1.00) r=1.69m +[headless_play] t= 9.20s step= 460 trunk_z= 95.7mm grav_b=(+0.00,-0.10,-0.99) r=1.71m +[headless_play] t= 9.30s step= 465 trunk_z= 94.5mm grav_b=(-0.00,+0.08,-1.00) r=1.76m +[headless_play] t= 9.40s step= 470 trunk_z= 91.1mm grav_b=(-0.06,-0.09,-0.99) r=1.80m +[headless_play] t= 9.50s step= 475 trunk_z= 92.4mm grav_b=(+0.13,-0.15,-0.98) r=1.83m +[headless_play] t= 9.60s step= 480 trunk_z= 98.5mm grav_b=(+0.09,-0.01,-1.00) r=1.86m +[headless_play] t= 9.70s step= 485 trunk_z= 73.3mm grav_b=(-0.16,+0.21,-0.96) r=1.89m +[headless_play] t= 9.80s step= 490 trunk_z= 90.9mm grav_b=(-0.27,+0.11,-0.96) r=1.91m +[headless_play] t= 9.90s step= 495 trunk_z= 94.2mm grav_b=(-0.08,-0.25,-0.96) r=1.94m +[headless_play] t= 10.00s step= 500 trunk_z= 92.8mm grav_b=(+0.01,-0.47,-0.88) r=1.93m +[headless_play] t= 10.10s step= 505 trunk_z= 101.3mm grav_b=(+0.11,-0.37,-0.92) r=1.90m +[headless_play] t= 10.20s step= 510 trunk_z= 99.3mm grav_b=(+0.30,-0.05,-0.95) r=1.89m +[headless_play] t= 10.30s step= 515 trunk_z= 86.4mm grav_b=(+0.08,+0.39,-0.92) r=1.91m +[headless_play] t= 10.40s step= 520 trunk_z= 69.4mm grav_b=(-0.46,+0.42,-0.78) r=1.91m +[headless_play] t= 10.50s step= 525 trunk_z= 68.0mm grav_b=(-0.82,+0.43,-0.38) r=1.93m +[headless_play] RESET at t= 10.52s step= 526 (env termination, not a recovery) +[headless_play] t= 10.60s step= 530 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) r=0.49m +[headless_play] t= 10.70s step= 535 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.48m +[headless_play] t= 10.80s step= 540 trunk_z= 116.4mm grav_b=(-0.00,-0.02,-1.00) r=0.47m +[headless_play] t= 10.90s step= 545 trunk_z= 112.0mm grav_b=(-0.02,-0.08,-1.00) r=0.45m +[headless_play] t= 11.00s step= 550 trunk_z= 111.9mm grav_b=(+0.01,+0.08,-1.00) r=0.44m +[headless_play] t= 11.10s step= 555 trunk_z= 113.2mm grav_b=(+0.01,+0.01,-1.00) r=0.43m +[headless_play] t= 11.20s step= 560 trunk_z= 112.0mm grav_b=(-0.01,-0.03,-1.00) r=0.42m +[headless_play] t= 11.30s step= 565 trunk_z= 112.4mm grav_b=(+0.01,+0.08,-1.00) r=0.41m +[headless_play] t= 11.40s step= 570 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) r=0.39m +[headless_play] t= 11.50s step= 575 trunk_z= 112.0mm grav_b=(+0.01,-0.08,-1.00) r=0.38m +[headless_play] t= 11.60s step= 580 trunk_z= 112.3mm grav_b=(+0.02,+0.07,-1.00) r=0.36m +[headless_play] t= 11.70s step= 585 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) r=0.35m +[headless_play] t= 11.80s step= 590 trunk_z= 112.0mm grav_b=(-0.01,-0.07,-1.00) r=0.33m +[headless_play] t= 11.90s step= 595 trunk_z= 111.5mm grav_b=(+0.02,+0.05,-1.00) r=0.33m +[headless_play] t= 12.00s step= 600 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) r=0.32m +[headless_play] t= 12.10s step= 605 trunk_z= 111.0mm grav_b=(+0.03,-0.06,-1.00) r=0.31m +[headless_play] t= 12.20s step= 610 trunk_z= 114.7mm grav_b=(+0.05,-0.05,-1.00) r=0.29m +[headless_play] t= 12.30s step= 615 trunk_z= 112.6mm grav_b=(+0.03,+0.12,-0.99) r=0.29m +[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(-0.07,-0.02,-1.00) r=0.29m +[headless_play] t= 12.50s step= 625 trunk_z= 116.2mm grav_b=(-0.03,-0.09,-1.00) r=0.28m +[headless_play] t= 12.60s step= 630 trunk_z= 113.0mm grav_b=(-0.00,+0.09,-1.00) r=0.28m +[headless_play] t= 12.70s step= 635 trunk_z= 113.8mm grav_b=(+0.02,+0.07,-1.00) r=0.28m +[headless_play] t= 12.80s step= 640 trunk_z= 110.9mm grav_b=(+0.05,-0.08,-1.00) r=0.29m +[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) r=0.29m +[headless_play] t= 13.00s step= 650 trunk_z= 116.2mm grav_b=(-0.01,+0.08,-1.00) r=0.30m +[headless_play] t= 13.10s step= 655 trunk_z= 112.5mm grav_b=(-0.00,-0.06,-1.00) r=0.31m +[headless_play] t= 13.20s step= 660 trunk_z= 113.3mm grav_b=(+0.04,+0.00,-1.00) r=0.32m +[headless_play] t= 13.30s step= 665 trunk_z= 112.5mm grav_b=(+0.02,+0.06,-1.00) r=0.34m +[headless_play] t= 13.40s step= 670 trunk_z= 110.7mm grav_b=(-0.02,-0.08,-1.00) r=0.36m +[headless_play] t= 13.50s step= 675 trunk_z= 114.3mm grav_b=(+0.02,+0.03,-1.00) r=0.37m +[headless_play] t= 13.60s step= 680 trunk_z= 113.5mm grav_b=(+0.01,+0.04,-1.00) r=0.39m +[headless_play] t= 13.70s step= 685 trunk_z= 110.4mm grav_b=(-0.01,-0.07,-1.00) r=0.40m +[headless_play] t= 13.80s step= 690 trunk_z= 112.1mm grav_b=(+0.01,+0.04,-1.00) r=0.42m +[headless_play] t= 13.90s step= 695 trunk_z= 113.8mm grav_b=(-0.01,+0.02,-1.00) r=0.43m +[headless_play] t= 14.00s step= 700 trunk_z= 109.9mm grav_b=(+0.00,-0.04,-1.00) r=0.45m +[headless_play] t= 14.10s step= 705 trunk_z= 114.1mm grav_b=(+0.04,-0.03,-1.00) r=0.46m +[headless_play] t= 14.20s step= 710 trunk_z= 112.9mm grav_b=(+0.06,+0.11,-0.99) r=0.50m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(+0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 14.40s step= 720 trunk_z= 119.4mm grav_b=(-0.10,+0.04,-0.99) r=0.58m +[headless_play] t= 14.50s step= 725 trunk_z= 114.8mm grav_b=(-0.00,+0.06,-1.00) r=0.62m +[headless_play] t= 14.60s step= 730 trunk_z= 113.3mm grav_b=(-0.04,-0.10,-0.99) r=0.65m +[headless_play] t= 14.70s step= 735 trunk_z= 115.0mm grav_b=(-0.10,+0.06,-0.99) r=0.67m +[headless_play] t= 14.80s step= 740 trunk_z= 119.9mm grav_b=(-0.03,+0.03,-1.00) r=0.70m +[headless_play] t= 14.90s step= 745 trunk_z= 115.5mm grav_b=(-0.04,-0.06,-1.00) r=0.71m +[headless_play] t= 15.00s step= 750 trunk_z= 119.0mm grav_b=(-0.04,+0.00,-1.00) r=0.72m +[headless_play] t= 15.10s step= 755 trunk_z= 121.7mm grav_b=(-0.05,+0.11,-0.99) r=0.73m +[headless_play] t= 15.20s step= 760 trunk_z= 118.9mm grav_b=(-0.03,-0.07,-1.00) r=0.74m +[headless_play] t= 15.30s step= 765 trunk_z= 123.8mm grav_b=(-0.03,-0.06,-1.00) r=0.75m +[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(-0.07,+0.10,-0.99) r=0.76m +[headless_play] t= 15.50s step= 775 trunk_z= 119.5mm grav_b=(-0.10,-0.05,-0.99) r=0.79m +[headless_play] t= 15.60s step= 780 trunk_z= 104.2mm grav_b=(-0.15,-0.29,-0.95) r=0.81m +[headless_play] t= 15.70s step= 785 trunk_z= 111.4mm grav_b=(-0.20,-0.51,-0.84) r=0.83m +[headless_play] t= 15.80s step= 790 trunk_z= 109.9mm grav_b=(-0.17,-0.44,-0.88) r=0.85m +[headless_play] t= 15.90s step= 795 trunk_z= 79.5mm grav_b=(-0.18,-0.19,-0.96) r=0.89m +[headless_play] t= 16.00s step= 800 trunk_z= 41.2mm grav_b=(+0.08,-0.21,-0.97) r=0.92m +[headless_play] t= 16.10s step= 805 trunk_z= 39.8mm grav_b=(-0.52,-0.32,-0.79) r=0.94m +[headless_play] t= 16.20s step= 810 trunk_z= 45.9mm grav_b=(-0.88,-0.02,-0.48) r=0.95m +[headless_play] RESET at t= 16.24s step= 812 (env termination, not a recovery) +[headless_play] t= 16.30s step= 815 trunk_z= 113.5mm grav_b=(-0.02,+0.00,-1.00) r=0.50m +[headless_play] t= 16.40s step= 820 trunk_z= 116.5mm grav_b=(+0.01,+0.01,-1.00) r=0.51m +[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(+0.00,-0.00,-1.00) r=0.51m +[headless_play] t= 16.60s step= 830 trunk_z= 115.4mm grav_b=(-0.01,-0.03,-1.00) r=0.51m +[headless_play] t= 16.70s step= 835 trunk_z= 112.5mm grav_b=(+0.01,-0.02,-1.00) r=0.51m +[headless_play] t= 16.80s step= 840 trunk_z= 113.4mm grav_b=(-0.00,+0.06,-1.00) r=0.52m +[headless_play] t= 16.90s step= 845 trunk_z= 113.0mm grav_b=(-0.02,-0.01,-1.00) r=0.53m +[headless_play] t= 17.00s step= 850 trunk_z= 112.9mm grav_b=(-0.04,-0.01,-1.00) r=0.54m +[headless_play] t= 17.10s step= 855 trunk_z= 111.8mm grav_b=(-0.03,+0.08,-1.00) r=0.55m +[headless_play] t= 17.20s step= 860 trunk_z= 109.3mm grav_b=(+0.00,-0.04,-1.00) r=0.56m +[headless_play] t= 17.30s step= 865 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) r=0.58m +[headless_play] t= 17.40s step= 870 trunk_z= 112.6mm grav_b=(+0.00,+0.04,-1.00) r=0.60m +[headless_play] t= 17.50s step= 875 trunk_z= 109.5mm grav_b=(-0.01,-0.07,-1.00) r=0.62m +[headless_play] t= 17.60s step= 880 trunk_z= 111.2mm grav_b=(+0.01,+0.10,-1.00) r=0.63m +[headless_play] t= 17.70s step= 885 trunk_z= 111.8mm grav_b=(+0.04,+0.03,-1.00) r=0.65m +[headless_play] t= 17.80s step= 890 trunk_z= 111.3mm grav_b=(-0.03,-0.07,-1.00) r=0.67m +[headless_play] t= 17.90s step= 895 trunk_z= 111.0mm grav_b=(-0.01,+0.12,-0.99) r=0.68m +[headless_play] t= 18.00s step= 900 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) r=0.70m +[headless_play] t= 18.10s step= 905 trunk_z= 111.6mm grav_b=(-0.01,-0.04,-1.00) r=0.71m +[headless_play] t= 18.20s step= 910 trunk_z= 111.4mm grav_b=(-0.02,+0.12,-0.99) r=0.73m +[headless_play] t= 18.30s step= 915 trunk_z= 112.2mm grav_b=(+0.02,-0.00,-1.00) r=0.75m +[headless_play] t= 18.40s step= 920 trunk_z= 109.3mm grav_b=(+0.07,+0.03,-1.00) r=0.77m +[headless_play] t= 18.50s step= 925 trunk_z= 115.2mm grav_b=(+0.08,+0.21,-0.97) r=0.78m +[headless_play] t= 18.60s step= 930 trunk_z= 129.5mm grav_b=(+0.01,+0.17,-0.99) r=0.79m +[headless_play] t= 18.70s step= 935 trunk_z= 127.5mm grav_b=(-0.04,+0.09,-0.99) r=0.82m +[headless_play] t= 18.80s step= 940 trunk_z= 118.9mm grav_b=(-0.20,+0.06,-0.98) r=0.85m +[headless_play] t= 18.90s step= 945 trunk_z= 113.8mm grav_b=(-0.12,+0.12,-0.99) r=0.88m +[headless_play] t= 19.00s step= 950 trunk_z= 109.9mm grav_b=(+0.05,+0.00,-1.00) r=0.90m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(+0.01,-0.02,-1.00) r=0.91m +[headless_play] t= 19.20s step= 960 trunk_z= 120.5mm grav_b=(-0.04,+0.10,-0.99) r=0.91m +[headless_play] t= 19.30s step= 965 trunk_z= 118.7mm grav_b=(-0.04,-0.06,-1.00) r=0.93m +[headless_play] t= 19.40s step= 970 trunk_z= 118.0mm grav_b=(-0.07,+0.09,-0.99) r=0.94m +[headless_play] t= 19.50s step= 975 trunk_z= 126.0mm grav_b=(-0.03,+0.08,-1.00) r=0.95m +[headless_play] t= 19.60s step= 980 trunk_z= 118.7mm grav_b=(-0.05,-0.06,-1.00) r=0.96m +[headless_play] t= 19.70s step= 985 trunk_z= 108.3mm grav_b=(-0.07,+0.07,-1.00) r=0.98m +[headless_play] t= 19.80s step= 990 trunk_z= 108.6mm grav_b=(-0.03,-0.21,-0.98) r=1.00m +[headless_play] t= 19.90s step= 995 trunk_z= 96.6mm grav_b=(-0.15,-0.46,-0.87) r=1.03m +[headless_play] t= 20.00s step=1000 trunk_z= 108.1mm grav_b=(-0.11,-0.38,-0.92) r=1.05m +[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(-0.17,-0.31,-0.93) r=1.06m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t6.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..edef70f0448225c8b615fc30cfe723078cadaedc --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t6.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 128.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+1.972,-18.167,+0.255) +[headless_play] t= 0.00s step= 0 trunk_z= 125.5mm grav_b=(-0.01,-0.00,-1.00) r=0.17m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00) r=0.17m +[headless_play] t= 0.20s step= 10 trunk_z= 118.3mm grav_b=(-0.01,+0.01,-1.00) r=0.17m +[headless_play] t= 0.30s step= 15 trunk_z= 119.3mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 0.40s step= 20 trunk_z= 118.5mm grav_b=(-0.04,+0.00,-1.00) r=0.16m +[headless_play] t= 0.50s step= 25 trunk_z= 117.9mm grav_b=(-0.05,+0.00,-1.00) r=0.16m +[headless_play] t= 0.60s step= 30 trunk_z= 117.8mm grav_b=(-0.06,+0.01,-1.00) r=0.16m +[headless_play] t= 0.70s step= 35 trunk_z= 117.8mm grav_b=(-0.06,+0.02,-1.00) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 117.9mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 0.90s step= 45 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 1.00s step= 50 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 1.10s step= 55 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 1.20s step= 60 trunk_z= 117.9mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 1.30s step= 65 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 1.40s step= 70 trunk_z= 117.9mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 1.50s step= 75 trunk_z= 117.9mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 1.60s step= 80 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 1.80s step= 90 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 2.00s step= 100 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 2.10s step= 105 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 2.30s step= 115 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 2.40s step= 120 trunk_z= 117.9mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 2.60s step= 130 trunk_z= 118.1mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 118.0mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 2.80s step= 140 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00) r=0.16m +[headless_play] t= 3.40s step= 170 trunk_z= 118.2mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 118.3mm grav_b=(-0.04,+0.01,-1.00) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 3.70s step= 185 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) r=0.16m +[headless_play] t= 3.80s step= 190 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 3.90s step= 195 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.00s step= 200 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.60s step= 230 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.70s step= 235 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.80s step= 240 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 4.90s step= 245 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 5.10s step= 255 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00) r=0.16m +[headless_play] t= 5.20s step= 260 trunk_z= 118.2mm grav_b=(-0.08,+0.00,-1.00) r=0.20m +[headless_play] t= 5.30s step= 265 trunk_z= 118.4mm grav_b=(-0.11,-0.01,-0.99) r=0.23m +[headless_play] t= 5.40s step= 270 trunk_z= 117.1mm grav_b=(-0.15,-0.04,-0.99) r=0.25m +[headless_play] t= 5.50s step= 275 trunk_z= 110.2mm grav_b=(-0.12,+0.11,-0.99) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 88.2mm grav_b=(-0.04,+0.09,-0.99) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 89.0mm grav_b=(+0.01,-0.09,-1.00) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 107.4mm grav_b=(+0.00,-0.04,-1.00) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 114.1mm grav_b=(+0.01,-0.04,-1.00) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(-0.03,-0.06,-1.00) r=0.28m +[headless_play] t= 6.10s step= 305 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) r=0.28m +[headless_play] t= 6.20s step= 310 trunk_z= 116.2mm grav_b=(-0.02,-0.01,-1.00) r=0.28m +[headless_play] t= 6.30s step= 315 trunk_z= 116.6mm grav_b=(-0.03,-0.01,-1.00) r=0.28m +[headless_play] t= 6.40s step= 320 trunk_z= 116.3mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 6.50s step= 325 trunk_z= 116.4mm grav_b=(-0.04,+0.00,-1.00) r=0.28m +[headless_play] t= 6.60s step= 330 trunk_z= 116.4mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 6.70s step= 335 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 6.80s step= 340 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 6.90s step= 345 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 7.00s step= 350 trunk_z= 116.6mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[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= 116.6mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 7.30s step= 365 trunk_z= 116.7mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 7.40s step= 370 trunk_z= 116.6mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.03,+0.00,-1.00) r=0.28m +[headless_play] t= 7.60s step= 380 trunk_z= 116.7mm grav_b=(-0.02,+0.00,-1.00) r=0.28m +[headless_play] t= 7.70s step= 385 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 117.8mm grav_b=(-0.03,-0.02,-1.00) r=0.27m +[headless_play] t= 7.90s step= 395 trunk_z= 116.2mm grav_b=(-0.02,-0.06,-1.00) r=0.27m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(+0.01,-0.04,-1.00) r=0.26m +[headless_play] t= 8.10s step= 405 trunk_z= 116.7mm grav_b=(-0.00,+0.12,-0.99) r=0.26m +[headless_play] t= 8.20s step= 410 trunk_z= 122.6mm grav_b=(-0.07,-0.00,-1.00) r=0.25m +[headless_play] t= 8.30s step= 415 trunk_z= 124.7mm grav_b=(-0.09,-0.15,-0.99) r=0.24m +[headless_play] t= 8.40s step= 420 trunk_z= 123.5mm grav_b=(-0.07,-0.08,-0.99) r=0.23m +[headless_play] t= 8.50s step= 425 trunk_z= 121.0mm grav_b=(-0.08,+0.06,-0.99) r=0.22m +[headless_play] t= 8.60s step= 430 trunk_z= 118.8mm grav_b=(-0.05,-0.07,-1.00) r=0.22m +[headless_play] t= 8.70s step= 435 trunk_z= 120.4mm grav_b=(-0.01,-0.05,-1.00) r=0.22m +[headless_play] t= 8.80s step= 440 trunk_z= 120.7mm grav_b=(-0.01,+0.09,-1.00) r=0.21m +[headless_play] t= 8.90s step= 445 trunk_z= 119.9mm grav_b=(-0.01,-0.04,-1.00) r=0.21m +[headless_play] t= 9.00s step= 450 trunk_z= 121.0mm grav_b=(-0.04,-0.06,-1.00) r=0.22m +[headless_play] t= 9.10s step= 455 trunk_z= 117.8mm grav_b=(-0.01,+0.14,-0.99) r=0.22m +[headless_play] t= 9.20s step= 460 trunk_z= 122.9mm grav_b=(+0.01,+0.00,-1.00) r=0.23m +[headless_play] t= 9.30s step= 465 trunk_z= 122.0mm grav_b=(-0.03,-0.15,-0.99) r=0.24m +[headless_play] t= 9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.03,+0.00,-1.00) r=0.26m +[headless_play] t= 9.50s step= 475 trunk_z= 123.2mm grav_b=(-0.05,+0.05,-1.00) r=0.27m +[headless_play] t= 9.60s step= 480 trunk_z= 117.3mm grav_b=(-0.05,-0.12,-0.99) r=0.29m +[headless_play] t= 9.70s step= 485 trunk_z= 118.0mm grav_b=(+0.04,-0.02,-1.00) r=0.30m +[headless_play] t= 9.80s step= 490 trunk_z= 121.5mm grav_b=(+0.03,+0.17,-0.99) r=0.31m +[headless_play] t= 9.90s step= 495 trunk_z= 125.0mm grav_b=(-0.05,+0.02,-1.00) r=0.32m +[headless_play] t= 10.00s step= 500 trunk_z= 123.9mm grav_b=(-0.08,-0.12,-0.99) r=0.35m +[headless_play] t= 10.10s step= 505 trunk_z= 121.5mm grav_b=(-0.04,-0.02,-1.00) r=0.36m +[headless_play] t= 10.20s step= 510 trunk_z= 121.3mm grav_b=(-0.06,+0.08,-0.99) r=0.37m +[headless_play] t= 10.30s step= 515 trunk_z= 115.6mm grav_b=(-0.03,-0.10,-0.99) r=0.38m +[headless_play] t= 10.40s step= 520 trunk_z= 114.4mm grav_b=(+0.04,+0.17,-0.99) r=0.39m +[headless_play] t= 10.50s step= 525 trunk_z= 129.6mm grav_b=(+0.20,+0.08,-0.98) r=0.40m +[headless_play] t= 10.60s step= 530 trunk_z= 92.8mm grav_b=(+0.17,-0.02,-0.98) r=0.42m +[headless_play] t= 10.70s step= 535 trunk_z= 83.7mm grav_b=(-0.03,-0.05,-1.00) r=0.45m +[headless_play] t= 10.80s step= 540 trunk_z= 96.4mm grav_b=(-0.07,-0.07,-1.00) r=0.46m +[headless_play] t= 10.90s step= 545 trunk_z= 112.8mm grav_b=(-0.13,-0.09,-0.99) r=0.49m +[headless_play] t= 11.00s step= 550 trunk_z= 119.4mm grav_b=(-0.15,+0.05,-0.99) r=0.51m +[headless_play] t= 11.10s step= 555 trunk_z= 122.3mm grav_b=(-0.04,+0.07,-1.00) r=0.53m +[headless_play] t= 11.20s step= 560 trunk_z= 117.3mm grav_b=(-0.02,-0.09,-1.00) r=0.54m +[headless_play] t= 11.30s step= 565 trunk_z= 119.6mm grav_b=(-0.06,+0.01,-1.00) r=0.55m +[headless_play] t= 11.40s step= 570 trunk_z= 121.7mm grav_b=(-0.06,+0.08,-1.00) r=0.56m +[headless_play] t= 11.50s step= 575 trunk_z= 115.9mm grav_b=(-0.07,-0.08,-0.99) r=0.57m +[headless_play] t= 11.60s step= 580 trunk_z= 117.4mm grav_b=(-0.04,+0.04,-1.00) r=0.58m +[headless_play] t= 11.70s step= 585 trunk_z= 118.3mm grav_b=(-0.02,+0.05,-1.00) r=0.58m +[headless_play] t= 11.80s step= 590 trunk_z= 116.7mm grav_b=(-0.04,-0.10,-0.99) r=0.59m +[headless_play] t= 11.90s step= 595 trunk_z= 115.3mm grav_b=(-0.03,+0.01,-1.00) r=0.59m +[headless_play] t= 12.00s step= 600 trunk_z= 119.5mm grav_b=(-0.04,+0.05,-1.00) r=0.59m +[headless_play] t= 12.10s step= 605 trunk_z= 115.2mm grav_b=(-0.03,-0.09,-1.00) r=0.60m +[headless_play] t= 12.20s step= 610 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00) r=0.61m +[headless_play] t= 12.30s step= 615 trunk_z= 118.5mm grav_b=(-0.04,+0.06,-1.00) r=0.61m +[headless_play] t= 12.40s step= 620 trunk_z= 115.9mm grav_b=(-0.06,-0.07,-1.00) r=0.62m +[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(-0.01,+0.01,-1.00) r=0.62m +[headless_play] t= 12.60s step= 630 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00) r=0.61m +[headless_play] t= 12.70s step= 635 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) r=0.61m +[headless_play] t= 12.80s step= 640 trunk_z= 113.6mm grav_b=(+0.03,+0.12,-0.99) r=0.61m +[headless_play] t= 12.90s step= 645 trunk_z= 118.3mm grav_b=(-0.01,+0.00,-1.00) r=0.61m +[headless_play] t= 13.00s step= 650 trunk_z= 120.0mm grav_b=(-0.06,-0.06,-1.00) r=0.62m +[headless_play] t= 13.10s step= 655 trunk_z= 116.0mm grav_b=(-0.08,+0.07,-0.99) r=0.63m +[headless_play] t= 13.20s step= 660 trunk_z= 117.4mm grav_b=(-0.03,-0.02,-1.00) r=0.64m +[headless_play] t= 13.30s step= 665 trunk_z= 117.3mm grav_b=(+0.02,-0.08,-1.00) r=0.65m +[headless_play] t= 13.40s step= 670 trunk_z= 112.5mm grav_b=(-0.02,+0.11,-0.99) r=0.66m +[headless_play] t= 13.50s step= 675 trunk_z= 118.2mm grav_b=(-0.06,+0.03,-1.00) r=0.67m +[headless_play] t= 13.60s step= 680 trunk_z= 118.5mm grav_b=(-0.04,-0.05,-1.00) r=0.68m +[headless_play] t= 13.70s step= 685 trunk_z= 114.1mm grav_b=(-0.02,+0.10,-1.00) r=0.69m +[headless_play] t= 13.80s step= 690 trunk_z= 117.2mm grav_b=(-0.02,-0.01,-1.00) r=0.69m +[headless_play] t= 13.90s step= 695 trunk_z= 115.5mm grav_b=(+0.01,-0.04,-1.00) r=0.70m +[headless_play] t= 14.00s step= 700 trunk_z= 114.2mm grav_b=(-0.02,+0.11,-0.99) r=0.71m +[headless_play] t= 14.10s step= 705 trunk_z= 117.5mm grav_b=(-0.04,-0.03,-1.00) r=0.72m +[headless_play] t= 14.20s step= 710 trunk_z= 116.7mm grav_b=(+0.00,-0.04,-1.00) r=0.73m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(+0.01,+0.13,-0.99) r=0.74m +[headless_play] t= 14.40s step= 720 trunk_z= 119.6mm grav_b=(-0.02,-0.02,-1.00) r=0.75m +[headless_play] t= 14.50s step= 725 trunk_z= 119.2mm grav_b=(-0.00,-0.10,-1.00) r=0.76m +[headless_play] t= 14.60s step= 730 trunk_z= 113.4mm grav_b=(-0.06,+0.12,-0.99) r=0.78m +[headless_play] t= 14.70s step= 735 trunk_z= 122.8mm grav_b=(-0.03,+0.07,-1.00) r=0.79m +[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(-0.06,-0.11,-0.99) r=0.80m +[headless_play] t= 14.90s step= 745 trunk_z= 117.6mm grav_b=(+0.01,+0.01,-1.00) r=0.81m +[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(-0.03,+0.10,-0.99) r=0.82m +[headless_play] t= 15.10s step= 755 trunk_z= 115.4mm grav_b=(-0.03,-0.03,-1.00) r=0.84m +[headless_play] t= 15.20s step= 760 trunk_z= 116.9mm grav_b=(-0.00,-0.02,-1.00) r=0.85m +[headless_play] t= 15.30s step= 765 trunk_z= 113.7mm grav_b=(+0.01,+0.14,-0.99) r=0.86m +[headless_play] t= 15.40s step= 770 trunk_z= 119.1mm grav_b=(-0.02,+0.00,-1.00) r=0.87m +[headless_play] t= 15.50s step= 775 trunk_z= 120.4mm grav_b=(-0.06,-0.10,-0.99) r=0.88m +[headless_play] t= 15.60s step= 780 trunk_z= 119.8mm grav_b=(-0.07,+0.08,-0.99) r=0.89m +[headless_play] t= 15.70s step= 785 trunk_z= 124.3mm grav_b=(-0.08,+0.12,-0.99) r=0.89m +[headless_play] t= 15.80s step= 790 trunk_z= 122.2mm grav_b=(-0.09,-0.02,-1.00) r=0.90m +[headless_play] t= 15.90s step= 795 trunk_z= 122.4mm grav_b=(-0.06,-0.02,-1.00) r=0.89m +[headless_play] t= 16.00s step= 800 trunk_z= 113.1mm grav_b=(-0.20,+0.21,-0.96) r=0.84m +[headless_play] t= 16.10s step= 805 trunk_z= 119.1mm grav_b=(-0.34,+0.20,-0.92) r=0.82m +[headless_play] t= 16.20s step= 810 trunk_z= 101.0mm grav_b=(-0.58,-0.07,-0.81) r=0.79m +[headless_play] t= 16.30s step= 815 trunk_z= 104.7mm grav_b=(-0.59,+0.13,-0.80) r=0.76m +[headless_play] t= 16.40s step= 820 trunk_z= 81.2mm grav_b=(-0.65,+0.19,-0.73) r=0.72m +[headless_play] t= 16.50s step= 825 trunk_z= 52.7mm grav_b=(-0.85,+0.35,-0.40) r=0.68m +[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,-0.00,-1.00) r=0.35m +[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 16.80s step= 840 trunk_z= 118.5mm grav_b=(-0.02,-0.01,-1.00) r=0.35m +[headless_play] t= 16.90s step= 845 trunk_z= 117.6mm grav_b=(-0.06,-0.00,-1.00) r=0.36m +[headless_play] t= 17.00s step= 850 trunk_z= 117.8mm grav_b=(-0.06,-0.00,-1.00) r=0.36m +[headless_play] t= 17.10s step= 855 trunk_z= 117.8mm grav_b=(-0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 17.20s step= 860 trunk_z= 118.2mm grav_b=(-0.02,-0.00,-1.00) r=0.35m +[headless_play] t= 17.30s step= 865 trunk_z= 117.9mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 17.40s step= 870 trunk_z= 118.0mm grav_b=(-0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 17.50s step= 875 trunk_z= 118.0mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 17.60s step= 880 trunk_z= 117.9mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 17.70s step= 885 trunk_z= 118.0mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 17.80s step= 890 trunk_z= 118.0mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 17.90s step= 895 trunk_z= 118.0mm grav_b=(-0.03,-0.00,-1.00) r=0.35m +[headless_play] t= 18.00s step= 900 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.20s step= 910 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 18.30s step= 915 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.40s step= 920 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.60s step= 930 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.70s step= 935 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.80s step= 940 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 18.90s step= 945 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 19.00s step= 950 trunk_z= 118.1mm grav_b=(-0.04,-0.00,-1.00) r=0.35m +[headless_play] t= 19.10s step= 955 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 19.20s step= 960 trunk_z= 118.1mm grav_b=(-0.04,-0.01,-1.00) r=0.35m +[headless_play] t= 19.30s step= 965 trunk_z= 118.4mm grav_b=(-0.08,-0.01,-1.00) r=0.40m +[headless_play] t= 19.40s step= 970 trunk_z= 119.4mm grav_b=(-0.18,-0.01,-0.98) r=0.43m +[headless_play] t= 19.50s step= 975 trunk_z= 108.8mm grav_b=(-0.19,+0.09,-0.98) r=0.45m +[headless_play] t= 19.60s step= 980 trunk_z= 84.9mm grav_b=(+0.05,+0.14,-0.99) r=0.47m +[headless_play] t= 19.70s step= 985 trunk_z= 94.7mm grav_b=(+0.04,-0.12,-0.99) r=0.49m +[headless_play] t= 19.80s step= 990 trunk_z= 116.5mm grav_b=(-0.08,-0.13,-0.99) r=0.50m +[headless_play] t= 19.90s step= 995 trunk_z= 121.0mm grav_b=(-0.08,-0.03,-1.00) r=0.49m +[headless_play] t= 20.00s step=1000 trunk_z= 123.4mm grav_b=(-0.05,+0.04,-1.00) r=0.49m +[headless_play] t= 20.10s step=1005 trunk_z= 118.6mm grav_b=(-0.04,-0.11,-0.99) r=0.48m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t7.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..9d4c892697c530b13998d1c3efa3e088638702c1 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t7.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(-17.986,-18.075,+0.148) +[headless_play] t= 0.00s step= 0 trunk_z= 119.9mm grav_b=(-0.01,+0.00,-1.00) r=0.08m +[headless_play] t= 0.10s step= 5 trunk_z= 116.5mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 0.20s step= 10 trunk_z= 117.0mm grav_b=(+0.04,-0.02,-1.00) r=0.08m +[headless_play] t= 0.30s step= 15 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 116.6mm grav_b=(+0.02,-0.01,-1.00) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) r=0.08m +[headless_play] t= 0.70s step= 35 trunk_z= 116.4mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 0.80s step= 40 trunk_z= 116.8mm grav_b=(+0.04,-0.01,-1.00) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 116.9mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.20s step= 60 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 117.0mm grav_b=(+0.03,-0.02,-1.00) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.08m +[headless_play] t= 1.80s step= 90 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 1.90s step= 95 trunk_z= 117.1mm grav_b=(+0.03,-0.02,-1.00) r=0.08m +[headless_play] t= 2.00s step= 100 trunk_z= 117.0mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 117.1mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.50s step= 125 trunk_z= 117.2mm grav_b=(+0.02,-0.01,-1.00) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.03,-0.01,-1.00) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.02,-0.02,-1.00) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 116.5mm grav_b=(+0.01,-0.02,-1.00) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 116.7mm grav_b=(+0.03,-0.03,-1.00) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 118.0mm grav_b=(+0.05,-0.03,-1.00) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 117.9mm grav_b=(-0.10,-0.02,-0.99) r=0.06m +[headless_play] t= 3.40s step= 170 trunk_z= 113.0mm grav_b=(-0.11,+0.11,-0.99) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 81.5mm grav_b=(+0.11,+0.20,-0.97) r=0.03m +[headless_play] t= 3.60s step= 180 trunk_z= 104.7mm grav_b=(+0.12,+0.02,-0.99) r=0.02m +[headless_play] t= 3.70s step= 185 trunk_z= 124.1mm grav_b=(+0.02,+0.10,-1.00) r=0.02m +[headless_play] t= 3.80s step= 190 trunk_z= 117.9mm grav_b=(-0.02,+0.06,-1.00) r=0.02m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.07,-0.11,-0.99) r=0.03m +[headless_play] t= 4.00s step= 200 trunk_z= 116.2mm grav_b=(-0.01,-0.01,-1.00) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 117.1mm grav_b=(+0.04,-0.03,-1.00) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 117.2mm grav_b=(+0.04,-0.03,-1.00) r=0.05m +[headless_play] t= 4.30s step= 215 trunk_z= 117.0mm grav_b=(+0.02,-0.04,-1.00) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 117.1mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 117.2mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 4.60s step= 230 trunk_z= 117.2mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 4.70s step= 235 trunk_z= 117.3mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 4.80s step= 240 trunk_z= 117.3mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 4.90s step= 245 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.01,-0.04,-1.00) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 117.4mm grav_b=(+0.01,-0.03,-1.00) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 117.5mm grav_b=(+0.01,-0.03,-1.00) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 117.5mm grav_b=(+0.00,-0.03,-1.00) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 117.6mm grav_b=(-0.00,-0.03,-1.00) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.00,-0.03,-1.00) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 118.0mm grav_b=(-0.00,+0.01,-1.00) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 117.8mm grav_b=(+0.03,-0.01,-1.00) r=0.07m +[headless_play] t= 5.80s step= 290 trunk_z= 112.9mm grav_b=(+0.05,-0.10,-0.99) r=0.08m +[headless_play] t= 5.90s step= 295 trunk_z= 110.7mm grav_b=(+0.05,+0.12,-0.99) r=0.10m +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(+0.03,+0.03,-1.00) r=0.11m +[headless_play] t= 6.10s step= 305 trunk_z= 115.6mm grav_b=(+0.01,-0.08,-1.00) r=0.13m +[headless_play] t= 6.20s step= 310 trunk_z= 111.9mm grav_b=(+0.04,+0.10,-0.99) r=0.14m +[headless_play] t= 6.30s step= 315 trunk_z= 114.8mm grav_b=(+0.05,-0.05,-1.00) r=0.16m +[headless_play] t= 6.40s step= 320 trunk_z= 115.7mm grav_b=(+0.08,-0.09,-0.99) r=0.18m +[headless_play] t= 6.50s step= 325 trunk_z= 112.4mm grav_b=(+0.07,+0.10,-0.99) r=0.20m +[headless_play] t= 6.60s step= 330 trunk_z= 117.6mm grav_b=(+0.00,-0.05,-1.00) r=0.22m +[headless_play] t= 6.70s step= 335 trunk_z= 116.2mm grav_b=(+0.04,-0.06,-1.00) r=0.24m +[headless_play] t= 6.80s step= 340 trunk_z= 118.2mm grav_b=(+0.08,+0.10,-0.99) r=0.27m +[headless_play] t= 6.90s step= 345 trunk_z= 117.0mm grav_b=(+0.06,-0.04,-1.00) r=0.31m +[headless_play] t= 7.00s step= 350 trunk_z= 113.4mm grav_b=(+0.06,+0.03,-1.00) r=0.35m +[headless_play] t= 7.10s step= 355 trunk_z= 119.6mm grav_b=(+0.17,+0.18,-0.97) r=0.38m +[headless_play] t= 7.20s step= 360 trunk_z= 124.3mm grav_b=(+0.15,+0.09,-0.98) r=0.41m +[headless_play] t= 7.30s step= 365 trunk_z= 109.2mm grav_b=(+0.06,+0.16,-0.98) r=0.44m +[headless_play] t= 7.40s step= 370 trunk_z= 108.2mm grav_b=(-0.01,+0.18,-0.98) r=0.46m +[headless_play] t= 7.50s step= 375 trunk_z= 99.7mm grav_b=(-0.23,-0.02,-0.97) r=0.49m +[headless_play] t= 7.60s step= 380 trunk_z= 110.2mm grav_b=(-0.11,+0.03,-0.99) r=0.52m +[headless_play] t= 7.70s step= 385 trunk_z= 113.0mm grav_b=(+0.03,+0.08,-1.00) r=0.54m +[headless_play] t= 7.80s step= 390 trunk_z= 114.5mm grav_b=(+0.14,-0.14,-0.98) r=0.56m +[headless_play] t= 7.90s step= 395 trunk_z= 126.9mm grav_b=(+0.08,+0.01,-1.00) r=0.56m +[headless_play] t= 8.00s step= 400 trunk_z= 109.0mm grav_b=(-0.18,+0.31,-0.93) r=0.58m +[headless_play] t= 8.10s step= 405 trunk_z= 109.9mm grav_b=(-0.36,+0.28,-0.89) r=0.61m +[headless_play] t= 8.20s step= 410 trunk_z= 91.6mm grav_b=(-0.47,-0.09,-0.88) r=0.63m +[headless_play] t= 8.30s step= 415 trunk_z= 89.0mm grav_b=(-0.16,-0.02,-0.99) r=0.64m +[headless_play] t= 8.40s step= 420 trunk_z= 99.0mm grav_b=(-0.13,-0.31,-0.94) r=0.65m +[headless_play] t= 8.50s step= 425 trunk_z= 109.8mm grav_b=(+0.01,-0.17,-0.99) r=0.66m +[headless_play] t= 8.60s step= 430 trunk_z= 115.1mm grav_b=(+0.16,+0.08,-0.98) r=0.67m +[headless_play] t= 8.70s step= 435 trunk_z= 119.6mm grav_b=(+0.05,-0.09,-0.99) r=0.69m +[headless_play] t= 8.80s step= 440 trunk_z= 122.5mm grav_b=(-0.03,-0.03,-1.00) r=0.71m +[headless_play] t= 8.90s step= 445 trunk_z= 119.7mm grav_b=(-0.03,+0.08,-1.00) r=0.75m +[headless_play] t= 9.00s step= 450 trunk_z= 108.7mm grav_b=(-0.02,-0.04,-1.00) r=0.77m +[headless_play] t= 9.10s step= 455 trunk_z= 97.0mm grav_b=(+0.17,+0.25,-0.95) r=0.79m +[headless_play] t= 9.20s step= 460 trunk_z= 118.1mm grav_b=(+0.16,+0.23,-0.96) r=0.82m +[headless_play] t= 9.30s step= 465 trunk_z= 66.9mm grav_b=(-0.12,+0.01,-0.99) r=0.88m +[headless_play] t= 9.40s step= 470 trunk_z= 78.6mm grav_b=(-0.20,-0.15,-0.97) r=0.92m +[headless_play] t= 9.50s step= 475 trunk_z= 81.6mm grav_b=(-0.24,-0.20,-0.95) r=0.97m +[headless_play] t= 9.60s step= 480 trunk_z= 65.7mm grav_b=(-0.55,-0.04,-0.83) r=1.00m +[headless_play] t= 9.70s step= 485 trunk_z= 43.5mm grav_b=(-0.51,-0.43,-0.75) r=1.02m +[headless_play] RESET at t= 9.80s step= 490 (env termination, not a recovery) +[headless_play] t= 9.80s step= 490 trunk_z= 128.0mm grav_b=(-0.00,-0.00,-1.00) r=0.23m +[headless_play] t= 9.90s step= 495 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00) r=0.23m +[headless_play] t= 10.00s step= 500 trunk_z= 119.5mm grav_b=(-0.00,-0.00,-1.00) r=0.22m +[headless_play] t= 10.10s step= 505 trunk_z= 121.6mm grav_b=(+0.02,-0.03,-1.00) r=0.22m +[headless_play] t= 10.20s step= 510 trunk_z= 118.4mm grav_b=(-0.01,+0.13,-0.99) r=0.20m +[headless_play] t= 10.30s step= 515 trunk_z= 123.5mm grav_b=(-0.02,-0.02,-1.00) r=0.19m +[headless_play] t= 10.40s step= 520 trunk_z= 117.7mm grav_b=(-0.08,-0.17,-0.98) r=0.17m +[headless_play] t= 10.50s step= 525 trunk_z= 121.7mm grav_b=(-0.05,-0.07,-1.00) r=0.15m +[headless_play] t= 10.60s step= 530 trunk_z= 123.7mm grav_b=(-0.00,+0.08,-1.00) r=0.13m +[headless_play] t= 10.70s step= 535 trunk_z= 118.9mm grav_b=(-0.01,-0.10,-1.00) r=0.11m +[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(-0.00,-0.06,-1.00) r=0.10m +[headless_play] t= 10.90s step= 545 trunk_z= 115.9mm grav_b=(-0.06,+0.10,-0.99) r=0.08m +[headless_play] t= 11.00s step= 550 trunk_z= 125.4mm grav_b=(-0.07,+0.11,-0.99) r=0.07m +[headless_play] t= 11.10s step= 555 trunk_z= 117.3mm grav_b=(-0.03,-0.10,-0.99) r=0.05m +[headless_play] t= 11.20s step= 560 trunk_z= 122.5mm grav_b=(-0.04,-0.04,-1.00) r=0.05m +[headless_play] t= 11.30s step= 565 trunk_z= 120.2mm grav_b=(+0.01,+0.10,-1.00) r=0.05m +[headless_play] t= 11.40s step= 570 trunk_z= 124.7mm grav_b=(+0.02,-0.01,-1.00) r=0.06m +[headless_play] t= 11.50s step= 575 trunk_z= 116.7mm grav_b=(-0.03,-0.14,-0.99) r=0.07m +[headless_play] t= 11.60s step= 580 trunk_z= 120.2mm grav_b=(-0.06,+0.01,-1.00) r=0.08m +[headless_play] t= 11.70s step= 585 trunk_z= 124.1mm grav_b=(-0.02,+0.07,-1.00) r=0.10m +[headless_play] t= 11.80s step= 590 trunk_z= 118.0mm grav_b=(-0.04,-0.13,-0.99) r=0.12m +[headless_play] t= 11.90s step= 595 trunk_z= 120.5mm grav_b=(-0.04,-0.08,-1.00) r=0.13m +[headless_play] t= 12.00s step= 600 trunk_z= 118.5mm grav_b=(-0.03,+0.08,-1.00) r=0.16m +[headless_play] t= 12.10s step= 605 trunk_z= 125.3mm grav_b=(-0.01,+0.05,-1.00) r=0.18m +[headless_play] t= 12.20s step= 610 trunk_z= 117.8mm grav_b=(-0.03,-0.08,-1.00) r=0.19m +[headless_play] t= 12.30s step= 615 trunk_z= 120.7mm grav_b=(-0.05,+0.03,-1.00) r=0.21m +[headless_play] t= 12.40s step= 620 trunk_z= 124.1mm grav_b=(+0.04,+0.05,-1.00) r=0.26m +[headless_play] t= 12.50s step= 625 trunk_z= 110.7mm grav_b=(-0.01,-0.21,-0.98) r=0.30m +[headless_play] t= 12.60s step= 630 trunk_z= 113.0mm grav_b=(+0.04,-0.14,-0.99) r=0.35m +[headless_play] t= 12.70s step= 635 trunk_z= 112.9mm grav_b=(+0.03,+0.12,-0.99) r=0.39m +[headless_play] t= 12.80s step= 640 trunk_z= 131.9mm grav_b=(-0.02,+0.12,-0.99) r=0.43m +[headless_play] t= 12.90s step= 645 trunk_z= 123.0mm grav_b=(-0.04,+0.03,-1.00) r=0.46m +[headless_play] t= 13.00s step= 650 trunk_z= 120.3mm grav_b=(-0.07,+0.02,-1.00) r=0.48m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.00,+0.09,-1.00) r=0.50m +[headless_play] t= 13.20s step= 660 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00) r=0.50m +[headless_play] t= 13.30s step= 665 trunk_z= 118.9mm grav_b=(+0.01,+0.02,-1.00) r=0.51m +[headless_play] t= 13.40s step= 670 trunk_z= 119.9mm grav_b=(+0.01,+0.00,-1.00) r=0.51m +[headless_play] t= 13.50s step= 675 trunk_z= 120.4mm grav_b=(+0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 13.60s step= 680 trunk_z= 120.7mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 13.70s step= 685 trunk_z= 120.9mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 13.80s step= 690 trunk_z= 121.1mm grav_b=(+0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 13.90s step= 695 trunk_z= 121.0mm grav_b=(+0.02,+0.02,-1.00) r=0.51m +[headless_play] t= 14.00s step= 700 trunk_z= 121.1mm grav_b=(+0.03,+0.00,-1.00) r=0.51m +[headless_play] t= 14.10s step= 705 trunk_z= 117.0mm grav_b=(-0.06,-0.10,-0.99) r=0.52m +[headless_play] t= 14.20s step= 710 trunk_z= 116.0mm grav_b=(-0.07,-0.02,-1.00) r=0.52m +[headless_play] t= 14.30s step= 715 trunk_z= 116.5mm grav_b=(-0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 14.40s step= 720 trunk_z= 116.8mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 14.60s step= 730 trunk_z= 116.9mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 14.70s step= 735 trunk_z= 116.9mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 14.80s step= 740 trunk_z= 117.0mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 14.90s step= 745 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.00s step= 750 trunk_z= 117.1mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.10s step= 755 trunk_z= 117.2mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.30s step= 765 trunk_z= 117.3mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.40s step= 770 trunk_z= 117.3mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.50s step= 775 trunk_z= 117.3mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.60s step= 780 trunk_z= 117.3mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.70s step= 785 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.80s step= 790 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 15.90s step= 795 trunk_z= 117.5mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.00s step= 800 trunk_z= 117.5mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.10s step= 805 trunk_z= 117.5mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(-0.05,-0.01,-1.00) r=0.52m +[headless_play] t= 16.30s step= 815 trunk_z= 117.2mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.40s step= 820 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.50s step= 825 trunk_z= 117.6mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.60s step= 830 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.70s step= 835 trunk_z= 117.8mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.80s step= 840 trunk_z= 117.7mm grav_b=(-0.05,-0.00,-1.00) r=0.52m +[headless_play] t= 16.90s step= 845 trunk_z= 118.3mm grav_b=(-0.04,-0.01,-1.00) r=0.52m +[headless_play] t= 17.00s step= 850 trunk_z= 118.2mm grav_b=(-0.03,-0.00,-1.00) r=0.53m +[headless_play] t= 17.10s step= 855 trunk_z= 117.9mm grav_b=(-0.00,-0.00,-1.00) r=0.53m +[headless_play] t= 17.20s step= 860 trunk_z= 117.5mm grav_b=(+0.02,-0.00,-1.00) r=0.53m +[headless_play] t= 17.30s step= 865 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) r=0.54m +[headless_play] t= 17.40s step= 870 trunk_z= 117.7mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 17.50s step= 875 trunk_z= 117.7mm grav_b=(+0.01,-0.00,-1.00) r=0.54m +[headless_play] t= 17.60s step= 880 trunk_z= 117.7mm grav_b=(+0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 17.70s step= 885 trunk_z= 117.7mm grav_b=(-0.00,-0.00,-1.00) r=0.52m +[headless_play] t= 17.80s step= 890 trunk_z= 117.5mm grav_b=(-0.02,-0.00,-1.00) r=0.51m +[headless_play] t= 17.90s step= 895 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.51m +[headless_play] t= 18.00s step= 900 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00) r=0.52m +[headless_play] t= 18.10s step= 905 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) r=0.52m +[headless_play] t= 18.20s step= 910 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 18.50s step= 925 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 18.60s step= 930 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 18.70s step= 935 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 18.90s step= 945 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.10s step= 955 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.20s step= 960 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.30s step= 965 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.40s step= 970 trunk_z= 117.5mm grav_b=(+0.01,-0.01,-1.00) r=0.52m +[headless_play] t= 19.50s step= 975 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 19.60s step= 980 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 19.70s step= 985 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 19.90s step= 995 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 20.00s step=1000 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00) r=0.52m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t8.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..66695c168a9d154c81f6c85a86630f2b12692fad --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t8.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 129.6mm grav_b=(-0.00,+0.00,-1.00) root_w=(-5.795,-17.925,+0.155) +[headless_play] t= 0.00s step= 0 trunk_z= 127.1mm grav_b=(-0.01,-0.00,-1.00) r=0.22m +[headless_play] t= 0.10s step= 5 trunk_z= 116.4mm grav_b=(+0.00,+0.07,-1.00) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 117.2mm grav_b=(+0.03,+0.06,-1.00) r=0.20m +[headless_play] t= 0.30s step= 15 trunk_z= 112.8mm grav_b=(+0.05,+0.03,-1.00) r=0.19m +[headless_play] t= 0.40s step= 20 trunk_z= 114.1mm grav_b=(+0.02,-0.01,-1.00) r=0.17m +[headless_play] t= 0.50s step= 25 trunk_z= 110.8mm grav_b=(+0.04,+0.07,-1.00) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 112.0mm grav_b=(+0.06,+0.05,-1.00) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 109.4mm grav_b=(+0.04,-0.02,-1.00) r=0.16m +[headless_play] t= 0.80s step= 40 trunk_z= 113.3mm grav_b=(+0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 0.90s step= 45 trunk_z= 110.7mm grav_b=(+0.06,+0.06,-1.00) r=0.15m +[headless_play] t= 1.00s step= 50 trunk_z= 112.1mm grav_b=(+0.06,+0.06,-1.00) r=0.15m +[headless_play] t= 1.10s step= 55 trunk_z= 111.2mm grav_b=(+0.06,+0.02,-1.00) r=0.15m +[headless_play] t= 1.20s step= 60 trunk_z= 111.7mm grav_b=(+0.04,-0.03,-1.00) r=0.15m +[headless_play] t= 1.30s step= 65 trunk_z= 110.3mm grav_b=(+0.06,+0.08,-1.00) r=0.15m +[headless_play] t= 1.40s step= 70 trunk_z= 112.2mm grav_b=(+0.03,+0.08,-1.00) r=0.15m +[headless_play] t= 1.50s step= 75 trunk_z= 111.5mm grav_b=(+0.04,+0.06,-1.00) r=0.15m +[headless_play] t= 1.60s step= 80 trunk_z= 111.1mm grav_b=(+0.10,-0.05,-0.99) r=0.14m +[headless_play] t= 1.70s step= 85 trunk_z= 112.9mm grav_b=(+0.10,+0.03,-0.99) r=0.13m +[headless_play] t= 1.80s step= 90 trunk_z= 110.8mm grav_b=(+0.09,+0.12,-0.99) r=0.13m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) r=0.13m +[headless_play] t= 2.00s step= 100 trunk_z= 112.0mm grav_b=(+0.03,-0.03,-1.00) r=0.13m +[headless_play] t= 2.10s step= 105 trunk_z= 110.6mm grav_b=(+0.06,+0.06,-1.00) r=0.14m +[headless_play] t= 2.20s step= 110 trunk_z= 110.0mm grav_b=(+0.10,+0.06,-0.99) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 108.5mm grav_b=(+0.07,-0.05,-1.00) r=0.14m +[headless_play] t= 2.40s step= 120 trunk_z= 110.1mm grav_b=(+0.09,-0.03,-1.00) r=0.15m +[headless_play] t= 2.50s step= 125 trunk_z= 111.2mm grav_b=(+0.04,+0.12,-0.99) r=0.16m +[headless_play] t= 2.60s step= 130 trunk_z= 116.3mm grav_b=(+0.01,+0.06,-1.00) r=0.18m +[headless_play] t= 2.70s step= 135 trunk_z= 112.3mm grav_b=(+0.08,+0.04,-1.00) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 115.4mm grav_b=(+0.05,-0.08,-1.00) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.06,-0.00,-1.00) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 113.3mm grav_b=(+0.06,+0.08,-1.00) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 118.4mm grav_b=(+0.00,+0.04,-1.00) r=0.22m +[headless_play] t= 3.20s step= 160 trunk_z= 116.2mm grav_b=(+0.07,+0.05,-1.00) r=0.22m +[headless_play] t= 3.30s step= 165 trunk_z= 112.6mm grav_b=(+0.08,-0.03,-1.00) r=0.23m +[headless_play] t= 3.40s step= 170 trunk_z= 112.9mm grav_b=(+0.07,+0.02,-1.00) r=0.24m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(-0.00,+0.09,-1.00) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 117.3mm grav_b=(-0.00,+0.04,-1.00) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 108.7mm grav_b=(+0.05,-0.03,-1.00) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 112.3mm grav_b=(+0.13,-0.05,-0.99) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 110.5mm grav_b=(+0.10,+0.07,-0.99) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.03,-0.10,-0.99) r=0.31m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(+0.06,-0.05,-1.00) r=0.32m +[headless_play] t= 4.20s step= 210 trunk_z= 116.6mm grav_b=(+0.02,+0.08,-1.00) r=0.35m +[headless_play] t= 4.30s step= 215 trunk_z= 115.9mm grav_b=(+0.01,-0.02,-1.00) r=0.37m +[headless_play] t= 4.40s step= 220 trunk_z= 113.3mm grav_b=(+0.03,-0.07,-1.00) r=0.39m +[headless_play] t= 4.50s step= 225 trunk_z= 112.4mm grav_b=(+0.05,+0.08,-1.00) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(+0.04,+0.02,-1.00) r=0.41m +[headless_play] t= 4.70s step= 235 trunk_z= 109.7mm grav_b=(+0.05,-0.02,-1.00) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.07,-0.07,-1.00) r=0.43m +[headless_play] t= 4.90s step= 245 trunk_z= 113.6mm grav_b=(+0.05,+0.02,-1.00) r=0.44m +[headless_play] t= 5.00s step= 250 trunk_z= 114.3mm grav_b=(+0.01,+0.08,-1.00) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(+0.01,+0.03,-1.00) r=0.45m +[headless_play] t= 5.20s step= 260 trunk_z= 110.9mm grav_b=(+0.09,+0.03,-1.00) r=0.47m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(+0.07,-0.06,-1.00) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 116.3mm grav_b=(+0.07,-0.01,-1.00) r=0.51m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.02,+0.08,-1.00) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 118.8mm grav_b=(-0.02,+0.04,-1.00) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 117.7mm grav_b=(+0.06,+0.07,-1.00) r=0.53m +[headless_play] t= 5.80s step= 290 trunk_z= 112.4mm grav_b=(+0.09,-0.04,-1.00) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 114.8mm grav_b=(+0.07,-0.02,-1.00) r=0.56m +[headless_play] t= 6.00s step= 300 trunk_z= 111.6mm grav_b=(+0.04,+0.09,-1.00) r=0.55m +[headless_play] t= 6.10s step= 305 trunk_z= 118.4mm grav_b=(-0.02,+0.08,-1.00) r=0.56m +[headless_play] t= 6.20s step= 310 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) r=0.57m +[headless_play] t= 6.30s step= 315 trunk_z= 110.8mm grav_b=(+0.12,-0.05,-0.99) r=0.58m +[headless_play] t= 6.40s step= 320 trunk_z= 112.7mm grav_b=(+0.05,+0.12,-0.99) r=0.60m +[headless_play] t= 6.50s step= 325 trunk_z= 121.5mm grav_b=(+0.00,+0.10,-1.00) r=0.62m +[headless_play] t= 6.60s step= 330 trunk_z= 112.9mm grav_b=(+0.03,-0.04,-1.00) r=0.64m +[headless_play] t= 6.70s step= 335 trunk_z= 114.9mm grav_b=(+0.06,+0.05,-1.00) r=0.65m +[headless_play] t= 6.80s step= 340 trunk_z= 116.4mm grav_b=(+0.04,+0.10,-0.99) r=0.67m +[headless_play] t= 6.90s step= 345 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) r=0.68m +[headless_play] t= 7.00s step= 350 trunk_z= 112.1mm grav_b=(+0.06,+0.01,-1.00) r=0.70m +[headless_play] t= 7.10s step= 355 trunk_z= 112.2mm grav_b=(+0.07,+0.14,-0.99) r=0.71m +[headless_play] t= 7.20s step= 360 trunk_z= 116.7mm grav_b=(+0.03,+0.06,-1.00) r=0.73m +[headless_play] t= 7.30s step= 365 trunk_z= 111.6mm grav_b=(+0.02,-0.05,-1.00) r=0.74m +[headless_play] t= 7.40s step= 370 trunk_z= 115.1mm grav_b=(+0.05,+0.03,-1.00) r=0.75m +[headless_play] t= 7.50s step= 375 trunk_z= 115.9mm grav_b=(+0.03,+0.09,-1.00) r=0.76m +[headless_play] t= 7.60s step= 380 trunk_z= 117.2mm grav_b=(+0.03,+0.01,-1.00) r=0.77m +[headless_play] t= 7.70s step= 385 trunk_z= 112.6mm grav_b=(+0.05,-0.05,-1.00) r=0.79m +[headless_play] t= 7.80s step= 390 trunk_z= 112.9mm grav_b=(+0.06,+0.05,-1.00) r=0.80m +[headless_play] t= 7.90s step= 395 trunk_z= 117.5mm grav_b=(+0.00,+0.08,-1.00) r=0.80m +[headless_play] t= 8.00s step= 400 trunk_z= 116.6mm grav_b=(+0.02,+0.02,-1.00) r=0.82m +[headless_play] t= 8.10s step= 405 trunk_z= 113.8mm grav_b=(+0.05,-0.05,-1.00) r=0.84m +[headless_play] t= 8.20s step= 410 trunk_z= 113.1mm grav_b=(+0.06,+0.06,-1.00) r=0.84m +[headless_play] t= 8.30s step= 415 trunk_z= 118.1mm grav_b=(+0.01,+0.09,-1.00) r=0.85m +[headless_play] t= 8.40s step= 420 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00) r=0.86m +[headless_play] t= 8.50s step= 425 trunk_z= 114.3mm grav_b=(+0.05,+0.00,-1.00) r=0.90m +[headless_play] t= 8.60s step= 430 trunk_z= 101.8mm grav_b=(+0.13,-0.05,-0.99) r=0.97m +[headless_play] t= 8.70s step= 435 trunk_z= 104.7mm grav_b=(+0.17,-0.17,-0.97) r=1.03m +[headless_play] t= 8.80s step= 440 trunk_z= 77.9mm grav_b=(+0.06,-0.06,-1.00) r=1.09m +[headless_play] t= 8.90s step= 445 trunk_z= 75.5mm grav_b=(-0.15,-0.09,-0.98) r=1.16m +[headless_play] t= 9.00s step= 450 trunk_z= 79.5mm grav_b=(-0.20,-0.09,-0.98) r=1.23m +[headless_play] t= 9.10s step= 455 trunk_z= 86.2mm grav_b=(-0.10,+0.09,-0.99) r=1.27m +[headless_play] t= 9.20s step= 460 trunk_z= 74.0mm grav_b=(-0.07,+0.10,-0.99) r=1.30m +[headless_play] t= 9.30s step= 465 trunk_z= 68.7mm grav_b=(+0.12,-0.08,-0.99) r=1.32m +[headless_play] t= 9.40s step= 470 trunk_z= 86.2mm grav_b=(+0.14,-0.05,-0.99) r=1.33m +[headless_play] t= 9.50s step= 475 trunk_z= 93.3mm grav_b=(+0.02,+0.11,-0.99) r=1.34m +[headless_play] t= 9.60s step= 480 trunk_z= 100.9mm grav_b=(-0.08,+0.02,-1.00) r=1.36m +[headless_play] t= 9.70s step= 485 trunk_z= 96.5mm grav_b=(-0.02,-0.07,-1.00) r=1.39m +[headless_play] t= 9.80s step= 490 trunk_z= 94.3mm grav_b=(-0.08,+0.10,-0.99) r=1.40m +[headless_play] t= 9.90s step= 495 trunk_z= 95.0mm grav_b=(-0.05,+0.15,-0.99) r=1.40m +[headless_play] t= 10.00s step= 500 trunk_z= 90.0mm grav_b=(+0.11,+0.02,-0.99) r=1.40m +[headless_play] t= 10.10s step= 505 trunk_z= 94.7mm grav_b=(+0.04,-0.02,-1.00) r=1.41m +[headless_play] t= 10.20s step= 510 trunk_z= 89.9mm grav_b=(-0.01,+0.14,-0.99) r=1.41m +[headless_play] t= 10.30s step= 515 trunk_z= 99.4mm grav_b=(-0.02,+0.12,-0.99) r=1.41m +[headless_play] t= 10.40s step= 520 trunk_z= 94.5mm grav_b=(-0.00,+0.05,-1.00) r=1.42m +[headless_play] t= 10.50s step= 525 trunk_z= 92.1mm grav_b=(+0.04,+0.02,-1.00) r=1.43m +[headless_play] t= 10.60s step= 530 trunk_z= 92.7mm grav_b=(+0.04,+0.16,-0.99) r=1.44m +[headless_play] t= 10.70s step= 535 trunk_z= 97.0mm grav_b=(-0.04,+0.06,-1.00) r=1.45m +[headless_play] t= 10.80s step= 540 trunk_z= 95.1mm grav_b=(+0.02,-0.06,-1.00) r=1.47m +[headless_play] t= 10.90s step= 545 trunk_z= 91.9mm grav_b=(+0.03,+0.06,-1.00) r=1.48m +[headless_play] t= 11.00s step= 550 trunk_z= 98.0mm grav_b=(+0.01,+0.11,-0.99) r=1.48m +[headless_play] t= 11.10s step= 555 trunk_z= 93.8mm grav_b=(+0.01,+0.01,-1.00) r=1.49m +[headless_play] t= 11.20s step= 560 trunk_z= 93.3mm grav_b=(+0.04,-0.02,-1.00) r=1.50m +[headless_play] t= 11.30s step= 565 trunk_z= 93.3mm grav_b=(+0.03,+0.14,-0.99) r=1.51m +[headless_play] t= 11.40s step= 570 trunk_z= 95.4mm grav_b=(-0.04,+0.03,-1.00) r=1.52m +[headless_play] t= 11.50s step= 575 trunk_z= 95.2mm grav_b=(+0.01,-0.06,-1.00) r=1.54m +[headless_play] t= 11.60s step= 580 trunk_z= 89.0mm grav_b=(+0.02,+0.12,-0.99) r=1.55m +[headless_play] t= 11.70s step= 585 trunk_z= 95.4mm grav_b=(-0.01,+0.08,-1.00) r=1.55m +[headless_play] t= 11.80s step= 590 trunk_z= 93.1mm grav_b=(-0.01,-0.07,-1.00) r=1.56m +[headless_play] t= 11.90s step= 595 trunk_z= 92.8mm grav_b=(+0.03,+0.03,-1.00) r=1.57m +[headless_play] t= 12.00s step= 600 trunk_z= 95.0mm grav_b=(+0.03,+0.13,-0.99) r=1.58m +[headless_play] t= 12.10s step= 605 trunk_z= 92.1mm grav_b=(-0.08,-0.10,-0.99) r=1.58m +[headless_play] t= 12.20s step= 610 trunk_z= 105.5mm grav_b=(-0.08,-0.18,-0.98) r=1.59m +[headless_play] t= 12.30s step= 615 trunk_z= 99.1mm grav_b=(-0.22,+0.07,-0.97) r=1.59m +[headless_play] t= 12.40s step= 620 trunk_z= 71.4mm grav_b=(-0.23,+0.12,-0.97) r=1.59m +[headless_play] t= 12.50s step= 625 trunk_z= 71.8mm grav_b=(-0.04,+0.09,-1.00) r=1.59m +[headless_play] t= 12.60s step= 630 trunk_z= 78.5mm grav_b=(-0.03,+0.00,-1.00) r=1.58m +[headless_play] t= 12.70s step= 635 trunk_z= 88.7mm grav_b=(-0.01,+0.15,-0.99) r=1.57m +[headless_play] t= 12.80s step= 640 trunk_z= 92.7mm grav_b=(-0.03,+0.01,-1.00) r=1.57m +[headless_play] t= 12.90s step= 645 trunk_z= 91.8mm grav_b=(-0.05,+0.09,-0.99) r=1.57m +[headless_play] t= 13.00s step= 650 trunk_z= 96.5mm grav_b=(-0.04,+0.04,-1.00) r=1.57m +[headless_play] t= 13.10s step= 655 trunk_z= 94.1mm grav_b=(-0.05,+0.04,-1.00) r=1.57m +[headless_play] t= 13.20s step= 660 trunk_z= 97.4mm grav_b=(-0.01,+0.10,-0.99) r=1.57m +[headless_play] t= 13.30s step= 665 trunk_z= 95.0mm grav_b=(-0.04,-0.07,-1.00) r=1.58m +[headless_play] t= 13.40s step= 670 trunk_z= 94.5mm grav_b=(-0.08,+0.08,-0.99) r=1.59m +[headless_play] t= 13.50s step= 675 trunk_z= 98.3mm grav_b=(-0.02,+0.03,-1.00) r=1.59m +[headless_play] t= 13.60s step= 680 trunk_z= 93.7mm grav_b=(-0.07,-0.07,-0.99) r=1.59m +[headless_play] t= 13.70s step= 685 trunk_z= 90.6mm grav_b=(-0.09,+0.13,-0.99) r=1.59m +[headless_play] t= 13.80s step= 690 trunk_z= 96.0mm grav_b=(-0.03,-0.01,-1.00) r=1.60m +[headless_play] t= 13.90s step= 695 trunk_z= 93.5mm grav_b=(-0.06,+0.02,-1.00) r=1.60m +[headless_play] t= 14.00s step= 700 trunk_z= 94.8mm grav_b=(-0.03,+0.08,-1.00) r=1.60m +[headless_play] t= 14.10s step= 705 trunk_z= 95.4mm grav_b=(-0.03,-0.03,-1.00) r=1.61m +[headless_play] t= 14.20s step= 710 trunk_z= 92.1mm grav_b=(-0.06,+0.12,-0.99) r=1.61m +[headless_play] t= 14.30s step= 715 trunk_z= 95.0mm grav_b=(-0.05,-0.08,-1.00) r=1.62m +[headless_play] t= 14.40s step= 720 trunk_z= 92.8mm grav_b=(-0.08,+0.04,-1.00) r=1.62m +[headless_play] t= 14.50s step= 725 trunk_z= 99.6mm grav_b=(-0.02,+0.07,-1.00) r=1.63m +[headless_play] t= 14.60s step= 730 trunk_z= 95.2mm grav_b=(-0.02,-0.08,-1.00) r=1.63m +[headless_play] t= 14.70s step= 735 trunk_z= 92.8mm grav_b=(-0.08,+0.09,-0.99) r=1.63m +[headless_play] t= 14.80s step= 740 trunk_z= 98.5mm grav_b=(-0.02,+0.03,-1.00) r=1.64m +[headless_play] t= 14.90s step= 745 trunk_z= 95.5mm grav_b=(-0.05,-0.00,-1.00) r=1.64m +[headless_play] t= 15.00s step= 750 trunk_z= 96.1mm grav_b=(-0.08,+0.13,-0.99) r=1.65m +[headless_play] t= 15.10s step= 755 trunk_z= 97.7mm grav_b=(-0.04,-0.01,-1.00) r=1.66m +[headless_play] t= 15.20s step= 760 trunk_z= 96.0mm grav_b=(-0.06,+0.05,-1.00) r=1.66m +[headless_play] t= 15.30s step= 765 trunk_z= 101.0mm grav_b=(-0.00,+0.11,-0.99) r=1.67m +[headless_play] t= 15.40s step= 770 trunk_z= 97.4mm grav_b=(-0.01,-0.01,-1.00) r=1.68m +[headless_play] t= 15.50s step= 775 trunk_z= 95.3mm grav_b=(-0.06,+0.09,-0.99) r=1.69m +[headless_play] t= 15.60s step= 780 trunk_z= 97.3mm grav_b=(-0.02,+0.11,-0.99) r=1.69m +[headless_play] t= 15.70s step= 785 trunk_z= 93.0mm grav_b=(-0.08,-0.07,-0.99) r=1.70m +[headless_play] t= 15.80s step= 790 trunk_z= 95.2mm grav_b=(-0.03,+0.02,-1.00) r=1.71m +[headless_play] t= 15.90s step= 795 trunk_z= 97.7mm grav_b=(+0.01,+0.15,-0.99) r=1.73m +[headless_play] t= 16.00s step= 800 trunk_z= 106.2mm grav_b=(-0.04,+0.15,-0.99) r=1.74m +[headless_play] t= 16.10s step= 805 trunk_z= 95.6mm grav_b=(-0.02,+0.02,-1.00) r=1.77m +[headless_play] t= 16.20s step= 810 trunk_z= 96.9mm grav_b=(-0.05,+0.04,-1.00) r=1.78m +[headless_play] t= 16.30s step= 815 trunk_z= 96.3mm grav_b=(+0.04,+0.12,-0.99) r=1.79m +[headless_play] t= 16.40s step= 820 trunk_z= 101.9mm grav_b=(-0.03,+0.03,-1.00) r=1.80m +[headless_play] t= 16.50s step= 825 trunk_z= 97.7mm grav_b=(-0.03,-0.07,-1.00) r=1.82m +[headless_play] t= 16.60s step= 830 trunk_z= 92.3mm grav_b=(-0.02,+0.11,-0.99) r=1.84m +[headless_play] t= 16.70s step= 835 trunk_z= 103.5mm grav_b=(+0.08,+0.06,-1.00) r=1.85m +[headless_play] t= 16.80s step= 840 trunk_z= 95.9mm grav_b=(+0.05,+0.05,-1.00) r=1.88m +[headless_play] t= 16.90s step= 845 trunk_z= 92.8mm grav_b=(-0.10,+0.23,-0.97) r=1.90m +[headless_play] t= 17.00s step= 850 trunk_z= 89.8mm grav_b=(+0.02,+0.23,-0.97) r=1.92m +[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(-0.01,+0.26,-0.97) r=1.94m +[headless_play] t= 17.20s step= 860 trunk_z= 103.2mm grav_b=(+0.00,+0.07,-1.00) r=1.98m +[headless_play] t= 17.30s step= 865 trunk_z= 84.9mm grav_b=(-0.21,+0.04,-0.98) r=2.01m +[headless_play] t= 17.40s step= 870 trunk_z= 84.7mm grav_b=(-0.02,+0.05,-1.00) r=2.04m +[headless_play] t= 17.50s step= 875 trunk_z= 84.9mm grav_b=(+0.08,-0.05,-1.00) r=2.04m +[headless_play] t= 17.60s step= 880 trunk_z= 92.8mm grav_b=(+0.01,+0.11,-0.99) r=2.04m +[headless_play] t= 17.70s step= 885 trunk_z= 106.2mm grav_b=(-0.03,+0.11,-0.99) r=2.05m +[headless_play] t= 17.80s step= 890 trunk_z= 99.2mm grav_b=(-0.07,+0.05,-1.00) r=2.07m +[headless_play] t= 17.90s step= 895 trunk_z= 97.3mm grav_b=(-0.02,-0.04,-1.00) r=2.09m +[headless_play] t= 18.00s step= 900 trunk_z= 92.9mm grav_b=(-0.03,+0.13,-0.99) r=2.11m +[headless_play] t= 18.10s step= 905 trunk_z= 100.5mm grav_b=(-0.02,+0.08,-1.00) r=2.11m +[headless_play] t= 18.20s step= 910 trunk_z= 94.5mm grav_b=(-0.00,-0.09,-1.00) r=2.13m +[headless_play] t= 18.30s step= 915 trunk_z= 98.6mm grav_b=(-0.02,-0.02,-1.00) r=2.14m +[headless_play] t= 18.40s step= 920 trunk_z= 97.6mm grav_b=(+0.02,+0.12,-0.99) r=2.15m +[headless_play] t= 18.50s step= 925 trunk_z= 100.5mm grav_b=(-0.01,+0.05,-1.00) r=2.16m +[headless_play] t= 18.60s step= 930 trunk_z= 96.3mm grav_b=(-0.03,-0.05,-1.00) r=2.17m +[headless_play] t= 18.70s step= 935 trunk_z= 93.5mm grav_b=(-0.06,+0.11,-0.99) r=2.19m +[headless_play] t= 18.80s step= 940 trunk_z= 99.1mm grav_b=(+0.01,+0.07,-1.00) r=2.19m +[headless_play] t= 18.90s step= 945 trunk_z= 93.5mm grav_b=(-0.04,-0.07,-1.00) r=2.21m +[headless_play] t= 19.00s step= 950 trunk_z= 95.2mm grav_b=(-0.05,+0.04,-1.00) r=2.22m +[headless_play] t= 19.10s step= 955 trunk_z= 98.9mm grav_b=(+0.02,+0.14,-0.99) r=2.22m +[headless_play] t= 19.20s step= 960 trunk_z= 98.4mm grav_b=(-0.03,+0.06,-1.00) r=2.23m +[headless_play] t= 19.30s step= 965 trunk_z= 96.9mm grav_b=(-0.03,-0.06,-1.00) r=2.25m +[headless_play] t= 19.40s step= 970 trunk_z= 92.1mm grav_b=(-0.00,+0.10,-1.00) r=2.25m +[headless_play] t= 19.50s step= 975 trunk_z= 93.8mm grav_b=(+0.01,+0.02,-1.00) r=2.26m +[headless_play] t= 19.60s step= 980 trunk_z= 93.1mm grav_b=(+0.00,+0.03,-1.00) r=2.26m +[headless_play] t= 19.70s step= 985 trunk_z= 92.5mm grav_b=(-0.04,+0.03,-1.00) r=2.26m +[headless_play] t= 19.80s step= 990 trunk_z= 92.5mm grav_b=(-0.06,+0.03,-1.00) r=2.26m +[headless_play] t= 19.90s step= 995 trunk_z= 92.6mm grav_b=(-0.04,+0.03,-1.00) r=2.26m +[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= 115.6mm grav_b=(+0.03,+0.06,-1.00) r=0.36m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t9.log b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..3c09cda569cfe648c5c44aca22fa8debc38f1a21 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/proof-z8-c-2026-10-23/z8c-t9.log @@ -0,0 +1,210 @@ +[INFO]: Loading checkpoint: model_19000.pt +[headless_play] episode_length_s=20.0 +[headless_play] twist command fixed: vx=0.3 m/s, vy 0, wz 0 +[headless_play] no-bounds: out_of_terrain_bounds dropped +[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base +[headless_play] after reset: trunk_z= 122.1mm grav_b=(+0.00,+0.00,-1.00) root_w=(+2.363,-17.613,+0.147) +[headless_play] t= 0.00s step= 0 trunk_z= 119.5mm grav_b=(-0.01,+0.00,-1.00) r=0.53m +[headless_play] t= 0.10s step= 5 trunk_z= 117.4mm grav_b=(-0.02,+0.04,-1.00) r=0.54m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(-0.00,+0.03,-1.00) r=0.54m +[headless_play] t= 0.30s step= 15 trunk_z= 118.0mm grav_b=(+0.01,+0.01,-1.00) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 114.9mm grav_b=(-0.00,+0.07,-1.00) r=0.54m +[headless_play] t= 0.50s step= 25 trunk_z= 115.4mm grav_b=(-0.00,-0.03,-1.00) r=0.54m +[headless_play] t= 0.60s step= 30 trunk_z= 114.0mm grav_b=(-0.01,-0.01,-1.00) r=0.54m +[headless_play] t= 0.70s step= 35 trunk_z= 110.8mm grav_b=(-0.00,+0.06,-1.00) r=0.55m +[headless_play] t= 0.80s step= 40 trunk_z= 113.2mm grav_b=(+0.02,+0.00,-1.00) r=0.56m +[headless_play] t= 0.90s step= 45 trunk_z= 110.5mm grav_b=(+0.05,-0.11,-0.99) r=0.55m +[headless_play] t= 1.00s step= 50 trunk_z= 114.0mm grav_b=(+0.04,-0.04,-1.00) r=0.55m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(-0.02,+0.10,-1.00) r=0.56m +[headless_play] t= 1.20s step= 60 trunk_z= 115.2mm grav_b=(+0.01,+0.01,-1.00) r=0.57m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(+0.03,-0.04,-1.00) r=0.57m +[headless_play] t= 1.40s step= 70 trunk_z= 109.4mm grav_b=(+0.03,+0.06,-1.00) r=0.58m +[headless_play] t= 1.50s step= 75 trunk_z= 114.3mm grav_b=(+0.04,+0.05,-1.00) r=0.59m +[headless_play] t= 1.60s step= 80 trunk_z= 113.6mm grav_b=(+0.00,-0.05,-1.00) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 113.3mm grav_b=(+0.00,+0.05,-1.00) r=0.62m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(+0.02,+0.05,-1.00) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 111.9mm grav_b=(+0.02,-0.07,-1.00) r=0.64m +[headless_play] t= 2.00s step= 100 trunk_z= 113.4mm grav_b=(+0.02,-0.03,-1.00) r=0.65m +[headless_play] t= 2.10s step= 105 trunk_z= 113.2mm grav_b=(+0.01,+0.10,-0.99) r=0.66m +[headless_play] t= 2.20s step= 110 trunk_z= 115.3mm grav_b=(+0.02,+0.03,-1.00) r=0.68m +[headless_play] t= 2.30s step= 115 trunk_z= 111.3mm grav_b=(+0.06,-0.08,-1.00) r=0.68m +[headless_play] t= 2.40s step= 120 trunk_z= 112.6mm grav_b=(+0.02,+0.04,-1.00) r=0.69m +[headless_play] t= 2.50s step= 125 trunk_z= 116.7mm grav_b=(+0.00,+0.09,-1.00) r=0.71m +[headless_play] t= 2.60s step= 130 trunk_z= 110.6mm grav_b=(+0.03,-0.05,-1.00) r=0.72m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(+0.04,-0.02,-1.00) r=0.73m +[headless_play] t= 2.80s step= 140 trunk_z= 112.5mm grav_b=(-0.01,+0.13,-0.99) r=0.74m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.00,+0.06,-1.00) r=0.76m +[headless_play] t= 3.00s step= 150 trunk_z= 108.3mm grav_b=(+0.04,-0.03,-1.00) r=0.77m +[headless_play] t= 3.10s step= 155 trunk_z= 108.3mm grav_b=(+0.03,+0.11,-0.99) r=0.79m +[headless_play] t= 3.20s step= 160 trunk_z= 102.4mm grav_b=(-0.07,+0.32,-0.94) r=0.81m +[headless_play] t= 3.30s step= 165 trunk_z= 109.5mm grav_b=(-0.10,+0.27,-0.96) r=0.84m +[headless_play] t= 3.40s step= 170 trunk_z= 106.1mm grav_b=(+0.02,+0.25,-0.97) r=0.87m +[headless_play] t= 3.50s step= 175 trunk_z= 78.1mm grav_b=(+0.05,+0.43,-0.90) r=0.89m +[headless_play] t= 3.60s step= 180 trunk_z= 78.8mm grav_b=(-0.25,+0.67,-0.70) r=0.91m +[headless_play] t= 3.70s step= 185 trunk_z= 92.9mm grav_b=(-0.24,+0.77,-0.59) r=0.94m +[headless_play] RESET at t= 3.80s step= 190 (env termination, not a recovery) +[headless_play] t= 3.80s step= 190 trunk_z= 128.3mm grav_b=(+0.00,+0.00,-1.00) r=0.26m +[headless_play] t= 3.90s step= 195 trunk_z= 116.1mm grav_b=(-0.02,+0.03,-1.00) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 118.2mm grav_b=(-0.01,+0.05,-1.00) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 117.4mm grav_b=(-0.00,+0.01,-1.00) r=0.24m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(+0.01,-0.03,-1.00) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 111.4mm grav_b=(+0.04,+0.14,-0.99) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 114.2mm grav_b=(-0.00,+0.01,-1.00) r=0.23m +[headless_play] t= 4.50s step= 225 trunk_z= 112.2mm grav_b=(-0.02,+0.01,-1.00) r=0.23m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.01,+0.12,-0.99) r=0.22m +[headless_play] t= 4.70s step= 235 trunk_z= 110.2mm grav_b=(-0.01,-0.08,-1.00) r=0.22m +[headless_play] t= 4.80s step= 240 trunk_z= 110.9mm grav_b=(+0.01,+0.12,-0.99) r=0.22m +[headless_play] t= 4.90s step= 245 trunk_z= 113.9mm grav_b=(+0.02,+0.02,-1.00) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 112.7mm grav_b=(+0.01,-0.06,-1.00) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 116.1mm grav_b=(-0.05,+0.12,-0.99) r=0.21m +[headless_play] t= 5.20s step= 260 trunk_z= 117.6mm grav_b=(-0.05,+0.04,-1.00) r=0.17m +[headless_play] t= 5.30s step= 265 trunk_z= 110.9mm grav_b=(-0.02,-0.03,-1.00) r=0.15m +[headless_play] t= 5.40s step= 270 trunk_z= 113.0mm grav_b=(+0.01,+0.15,-0.99) r=0.12m +[headless_play] t= 5.50s step= 275 trunk_z= 110.8mm grav_b=(+0.03,-0.03,-1.00) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 110.6mm grav_b=(+0.02,+0.08,-1.00) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 115.4mm grav_b=(+0.03,+0.13,-0.99) r=0.09m +[headless_play] t= 5.80s step= 290 trunk_z= 111.5mm grav_b=(-0.03,-0.06,-1.00) r=0.09m +[headless_play] t= 5.90s step= 295 trunk_z= 112.8mm grav_b=(+0.01,+0.10,-1.00) r=0.09m +[headless_play] t= 6.00s step= 300 trunk_z= 113.8mm grav_b=(+0.01,+0.08,-1.00) r=0.10m +[headless_play] t= 6.10s step= 305 trunk_z= 110.7mm grav_b=(-0.04,-0.06,-1.00) r=0.11m +[headless_play] t= 6.20s step= 310 trunk_z= 110.7mm grav_b=(+0.01,+0.12,-0.99) r=0.11m +[headless_play] t= 6.30s step= 315 trunk_z= 112.0mm grav_b=(-0.02,-0.05,-1.00) r=0.12m +[headless_play] t= 6.40s step= 320 trunk_z= 111.0mm grav_b=(-0.00,+0.10,-1.00) r=0.14m +[headless_play] t= 6.50s step= 325 trunk_z= 110.8mm grav_b=(+0.00,-0.01,-1.00) r=0.14m +[headless_play] t= 6.60s step= 330 trunk_z= 111.5mm grav_b=(+0.00,+0.01,-1.00) r=0.15m +[headless_play] t= 6.70s step= 335 trunk_z= 111.5mm grav_b=(-0.02,+0.03,-1.00) r=0.16m +[headless_play] t= 6.80s step= 340 trunk_z= 110.2mm grav_b=(-0.00,-0.03,-1.00) r=0.17m +[headless_play] t= 6.90s step= 345 trunk_z= 111.8mm grav_b=(-0.02,+0.05,-1.00) r=0.18m +[headless_play] t= 7.00s step= 350 trunk_z= 110.9mm grav_b=(-0.04,-0.06,-1.00) r=0.19m +[headless_play] t= 7.10s step= 355 trunk_z= 108.3mm grav_b=(-0.00,+0.12,-0.99) r=0.20m +[headless_play] t= 7.20s step= 360 trunk_z= 110.6mm grav_b=(+0.00,-0.04,-1.00) r=0.21m +[headless_play] t= 7.30s step= 365 trunk_z= 110.2mm grav_b=(-0.00,+0.06,-1.00) r=0.23m +[headless_play] t= 7.40s step= 370 trunk_z= 111.1mm grav_b=(+0.01,-0.00,-1.00) r=0.24m +[headless_play] t= 7.50s step= 375 trunk_z= 111.6mm grav_b=(+0.02,+0.01,-1.00) r=0.25m +[headless_play] t= 7.60s step= 380 trunk_z= 111.6mm grav_b=(-0.01,+0.06,-1.00) r=0.26m +[headless_play] t= 7.70s step= 385 trunk_z= 110.6mm grav_b=(-0.03,-0.07,-1.00) r=0.27m +[headless_play] t= 7.80s step= 390 trunk_z= 109.3mm grav_b=(-0.01,+0.12,-0.99) r=0.29m +[headless_play] t= 7.90s step= 395 trunk_z= 112.5mm grav_b=(-0.01,-0.00,-1.00) r=0.30m +[headless_play] t= 8.00s step= 400 trunk_z= 111.1mm grav_b=(-0.02,-0.01,-1.00) r=0.31m +[headless_play] t= 8.10s step= 405 trunk_z= 107.8mm grav_b=(+0.05,+0.06,-1.00) r=0.33m +[headless_play] t= 8.20s step= 410 trunk_z= 111.1mm grav_b=(+0.09,+0.02,-1.00) r=0.33m +[headless_play] t= 8.30s step= 415 trunk_z= 113.1mm grav_b=(+0.08,+0.02,-1.00) r=0.33m +[headless_play] t= 8.40s step= 420 trunk_z= 113.9mm grav_b=(+0.05,+0.02,-1.00) r=0.32m +[headless_play] t= 8.50s step= 425 trunk_z= 114.0mm grav_b=(-0.02,+0.01,-1.00) r=0.32m +[headless_play] t= 8.60s step= 430 trunk_z= 115.6mm grav_b=(-0.09,+0.01,-1.00) r=0.29m +[headless_play] t= 8.70s step= 435 trunk_z= 116.8mm grav_b=(-0.13,-0.04,-0.99) r=0.25m +[headless_play] t= 8.80s step= 440 trunk_z= 102.8mm grav_b=(-0.09,-0.01,-1.00) r=0.22m +[headless_play] t= 8.90s step= 445 trunk_z= 91.1mm grav_b=(+0.05,+0.24,-0.97) r=0.19m +[headless_play] t= 9.00s step= 450 trunk_z= 108.3mm grav_b=(+0.09,+0.29,-0.95) r=0.16m +[headless_play] t= 9.10s step= 455 trunk_z= 122.9mm grav_b=(+0.03,+0.20,-0.98) r=0.15m +[headless_play] t= 9.20s step= 460 trunk_z= 122.0mm grav_b=(+0.02,+0.03,-1.00) r=0.16m +[headless_play] t= 9.30s step= 465 trunk_z= 116.4mm grav_b=(-0.04,+0.13,-0.99) r=0.16m +[headless_play] t= 9.40s step= 470 trunk_z= 114.5mm grav_b=(-0.01,+0.04,-1.00) r=0.16m +[headless_play] t= 9.50s step= 475 trunk_z= 114.5mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 9.60s step= 480 trunk_z= 115.2mm grav_b=(-0.03,+0.00,-1.00) r=0.16m +[headless_play] t= 9.70s step= 485 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) r=0.16m +[headless_play] t= 9.80s step= 490 trunk_z= 115.2mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 9.90s step= 495 trunk_z= 115.2mm grav_b=(+0.00,+0.00,-1.00) r=0.16m +[headless_play] t= 10.00s step= 500 trunk_z= 115.3mm grav_b=(+0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 10.10s step= 505 trunk_z= 115.4mm grav_b=(+0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 10.20s step= 510 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) r=0.16m +[headless_play] t= 10.30s step= 515 trunk_z= 115.5mm grav_b=(+0.00,-0.00,-1.00) r=0.16m +[headless_play] t= 10.40s step= 520 trunk_z= 115.4mm grav_b=(-0.00,-0.00,-1.00) r=0.16m +[headless_play] t= 10.50s step= 525 trunk_z= 115.4mm grav_b=(-0.00,-0.00,-1.00) r=0.16m +[headless_play] t= 10.60s step= 530 trunk_z= 115.5mm grav_b=(-0.00,-0.00,-1.00) r=0.16m +[headless_play] t= 10.70s step= 535 trunk_z= 115.6mm grav_b=(-0.00,-0.00,-1.00) r=0.16m +[headless_play] t= 10.80s step= 540 trunk_z= 115.3mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 10.90s step= 545 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.00s step= 550 trunk_z= 115.4mm grav_b=(-0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 11.10s step= 555 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.20s step= 560 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.40s step= 570 trunk_z= 115.5mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.50s step= 575 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.16m +[headless_play] t= 11.60s step= 580 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 11.70s step= 585 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 11.80s step= 590 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 11.90s step= 595 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 12.00s step= 600 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 12.10s step= 605 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) r=0.17m +[headless_play] t= 12.30s step= 615 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00) r=0.16m +[headless_play] t= 12.40s step= 620 trunk_z= 116.4mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 12.50s step= 625 trunk_z= 117.8mm grav_b=(+0.02,+0.00,-1.00) r=0.17m +[headless_play] t= 12.60s step= 630 trunk_z= 118.1mm grav_b=(+0.01,-0.00,-1.00) r=0.16m +[headless_play] t= 12.70s step= 635 trunk_z= 117.2mm grav_b=(-0.03,-0.01,-1.00) r=0.16m +[headless_play] t= 12.80s step= 640 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00) r=0.16m +[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.10s step= 655 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.20s step= 660 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.30s step= 665 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.40s step= 670 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.50s step= 675 trunk_z= 117.4mm grav_b=(-0.02,-0.01,-1.00) r=0.16m +[headless_play] t= 13.60s step= 680 trunk_z= 117.5mm grav_b=(-0.07,-0.00,-1.00) r=0.12m +[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(-0.18,-0.00,-0.98) r=0.09m +[headless_play] t= 13.80s step= 690 trunk_z= 100.6mm grav_b=(-0.21,+0.17,-0.96) r=0.08m +[headless_play] t= 13.90s step= 695 trunk_z= 75.8mm grav_b=(-0.06,+0.26,-0.96) r=0.07m +[headless_play] t= 14.00s step= 700 trunk_z= 94.7mm grav_b=(+0.01,+0.10,-1.00) r=0.08m +[headless_play] t= 14.10s step= 705 trunk_z= 108.0mm grav_b=(+0.01,+0.05,-1.00) r=0.09m +[headless_play] t= 14.20s step= 710 trunk_z= 112.9mm grav_b=(+0.02,+0.02,-1.00) r=0.10m +[headless_play] t= 14.30s step= 715 trunk_z= 114.5mm grav_b=(+0.02,-0.01,-1.00) r=0.10m +[headless_play] t= 14.40s step= 720 trunk_z= 114.7mm grav_b=(-0.00,-0.02,-1.00) r=0.11m +[headless_play] t= 14.50s step= 725 trunk_z= 115.2mm grav_b=(-0.02,-0.02,-1.00) r=0.11m +[headless_play] t= 14.60s step= 730 trunk_z= 115.5mm grav_b=(-0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 14.70s step= 735 trunk_z= 115.8mm grav_b=(-0.02,-0.02,-1.00) r=0.11m +[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(-0.01,-0.02,-1.00) r=0.11m +[headless_play] t= 14.90s step= 745 trunk_z= 116.0mm grav_b=(-0.03,-0.02,-1.00) r=0.11m +[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.02,-0.02,-1.00) r=0.11m +[headless_play] t= 15.10s step= 755 trunk_z= 116.5mm grav_b=(-0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 15.20s step= 760 trunk_z= 116.6mm grav_b=(-0.05,-0.01,-1.00) r=0.11m +[headless_play] t= 15.30s step= 765 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) r=0.11m +[headless_play] t= 15.40s step= 770 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 15.50s step= 775 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 15.60s step= 780 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 15.70s step= 785 trunk_z= 116.8mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 15.80s step= 790 trunk_z= 116.7mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 15.90s step= 795 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 16.00s step= 800 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.11m +[headless_play] t= 16.10s step= 805 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.20s step= 810 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.30s step= 815 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 16.40s step= 820 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.50s step= 825 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.60s step= 830 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.70s step= 835 trunk_z= 117.1mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.80s step= 840 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 17.00s step= 850 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 17.10s step= 855 trunk_z= 116.9mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 17.20s step= 860 trunk_z= 117.1mm grav_b=(-0.02,-0.00,-1.00) r=0.11m +[headless_play] t= 17.30s step= 865 trunk_z= 117.1mm grav_b=(+0.02,-0.01,-1.00) r=0.11m +[headless_play] t= 17.40s step= 870 trunk_z= 119.9mm grav_b=(+0.10,+0.04,-0.99) r=0.12m +[headless_play] t= 17.50s step= 875 trunk_z= 115.0mm grav_b=(-0.04,+0.23,-0.97) r=0.13m +[headless_play] t= 17.60s step= 880 trunk_z= 119.0mm grav_b=(-0.02,+0.11,-0.99) r=0.15m +[headless_play] t= 17.70s step= 885 trunk_z= 118.0mm grav_b=(-0.08,-0.02,-1.00) r=0.18m +[headless_play] t= 17.80s step= 890 trunk_z= 116.3mm grav_b=(-0.06,+0.02,-1.00) r=0.20m +[headless_play] t= 17.90s step= 895 trunk_z= 116.2mm grav_b=(-0.02,-0.03,-1.00) r=0.21m +[headless_play] t= 18.00s step= 900 trunk_z= 116.1mm grav_b=(-0.02,-0.02,-1.00) r=0.21m +[headless_play] t= 18.10s step= 905 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.20s step= 910 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.30s step= 915 trunk_z= 116.4mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.40s step= 920 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.60s step= 930 trunk_z= 116.5mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 18.70s step= 935 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 18.80s step= 940 trunk_z= 116.7mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 18.90s step= 945 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 19.00s step= 950 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 19.10s step= 955 trunk_z= 116.8mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 19.20s step= 960 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.20m +[headless_play] t= 19.30s step= 965 trunk_z= 116.9mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(-0.03,-0.01,-1.00) r=0.21m +[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(-0.03,-0.00,-1.00) r=0.21m +[headless_play] t= 19.60s step= 980 trunk_z= 117.1mm grav_b=(-0.03,+0.00,-1.00) r=0.20m +[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(+0.00,+0.00,-1.00) r=0.21m +[headless_play] t= 19.80s step= 990 trunk_z= 117.4mm grav_b=(+0.01,+0.00,-1.00) r=0.21m +[headless_play] t= 19.90s step= 995 trunk_z= 117.3mm grav_b=(-0.02,+0.00,-1.00) r=0.20m +[headless_play] t= 20.00s step=1000 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] t= 20.10s step=1005 trunk_z= 117.3mm grav_b=(-0.02,-0.00,-1.00) r=0.20m +[headless_play] done diff --git a/level-01j-walk-stairs/proof-takes/score.txt b/level-01j-walk-stairs/proof-takes/score.txt new file mode 100644 index 0000000000000000000000000000000000000000..b459f5e5203b61ba688b48e182fa186f58242737 --- /dev/null +++ b/level-01j-walk-stairs/proof-takes/score.txt @@ -0,0 +1,4 @@ +a: z8 3/15 vs walk-mixslope 5/15 one-sided p=0.8926 two-sided p=0.6817 no-sample takes z8 0 mxa 0 reached r>=1.0 m: z8 14 mxa 9 +b: z8 13/15 vs walk-mixslope 14/15 one-sided p=0.8879 two-sided p=1.0000 no-sample takes z8 0 mxb 0 reached r>=1.0 m: z8 10 mxb 10 +c: z8 6/15 vs walk-mixslope 11/15 one-sided p=0.9873 two-sided p=0.1394 no-sample takes z8 0 mxc 0 reached r>=1.0 m: z8 11 mxc 12 +VERDICT: NO GAIN diff --git a/level-01j-walk-stairs/queue-item.sh b/level-01j-walk-stairs/queue-item.sh new file mode 100644 index 0000000000000000000000000000000000000000..462bf0f75c1c5489285c9141db258d0f4c5c31c1 --- /dev/null +++ b/level-01j-walk-stairs/queue-item.sh @@ -0,0 +1,26 @@ +#!/bin/bash +# 09z8-duck-velstairs.sh: duck skill tree, "our own conditions" track, eighth item = STAIRS: short flights of 2-3 steps, up and down, on top of the +# walk-mixslope conditions (single step GAIN 09z3, hills GAIN 09z5, mix GAIN 09z6, mixslope no gain but no loss 09z7; walk-mixslope v1 is public). +# task Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck (module witcheer_velocity_stairs_env_cfg.py, installed 2026-10-23 by +# install-stairs-fork-2026-10-23.sh, backup ~/tasks-init.py.bak-stairs-2026-10-23; train+play cfg reprs of base/step/slip/push/slope/mix/mixslope +# md5-identical before/after). imports the step/slope/slip/push modules: foot friction (0.2, 1.3), shoves x2, backlash robot, 4 m tiles, 10 x 10 grid, +# 20 m border, random mode. TILE MIX (shares): stairs2 0.25 (2 risers, 1 tread of 0.25 m, 2.5 m platform), stairs3 0.25 (3 risers, 2 treads of 0.25 m, +# 2.0 m platform), single_step 0.15 (the 09z3 tile), hill 0.15 (the 09z5 tile, retention), flat 0.20 (walking on the flat is not lost). riser height +# 10-25 mm per tile (the band 09z3 gained on), so a 3-step flight tops out at 30-75 mm; 1.0 m of flat floor between the flights of neighbouring tiles. +# depends on our clone patches: ground_height_patch.py (_ground_z on generator floors), terrain_* chain (velocity family). +# WARM START: logs/rsl_rl/duckvelstairs/2026-10-23_00-00-00_seed-velmixslope-it16000/model_16000.pt = walk-mixslope (duckvelmixslope +# 2026-10-22_14-18-58 model_16000, md5 82e6979d, both copies), true resume, 16000 -> 19000 (3k rule). +# probe (2026-10-23 17:58-18:00 CEST, free card, sanctioned drain, 4096 envs, probe-velstairs-wrap-2026-10-23.sh): checkpoint loaded, 0 size mismatch, +# 2.35 s/it mean of 46 (steady 2.30-2.35), card peak 7,762 MiB, train rc 0 (116 s), export rc 0 (793,780 B), nan_state 0.0000 +# -> 3000 it ~118 min + export. heightfield tiles present: same ~2x cost as 09z5/09z7; a weekend block holds it whole. +# verdict: proof-z8-{a,b,c}.sh, 15 takes per policy per condition, 20 s, --cmd-vx 0.3 --no-bounds, scorer z8-score-2026-10-23.py, all vs walk-mixslope. +# pre-registered: a (GAIN, one-sided) Stairs env, flights only (MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5), riser 25 mm, friction 0.2, 2x shoves 3-6 s; +# b (no loss, two-sided) the maker's flat task Mjlab-Velocity-Flat-Backlash-MicroDuck (plane, default DR, maker play shoves); +# c (no loss, two-sided) the MixSlope condition = proof-z7-a harness (hill 0.15 + step 25 mm + friction 0.2 + 2x shoves 3-6 s). +# operator yes 2026-10-23 ~17:50 CEST (GPU thread): "Stairs: flights of 2-3 steps, warm-started from walk-mixslope". +SKILL=velstairs +# MANIFEST duplicated from the body so the drain grep fills idleq-active.json for the sentinel +MANIFEST=/home/witcheer/duckvelstairs-status.json +TASK=Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck +TARGET_IT=${TARGET_IT:-19000} +. /home/witcheer/Pollen/duck-train-body.sh diff --git a/level-01j-walk-stairs/reward-curve.csv b/level-01j-walk-stairs/reward-curve.csv new file mode 100644 index 0000000000000000000000000000000000000000..641e3ff1102e375d657ba0031a1861a6653f9727 --- /dev/null +++ b/level-01j-walk-stairs/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 +16000,0.0,0.0,0.0,3.5,28789.0,13.404762268066406,1.1546064615249634 +16001,0.0,0.0,0.0,3.625,43550.0,35.81999969482422,3.1742470264434814 +16002,0.0416666679084301,0.0,0.0,4.083333492279053,44100.0,59.869998931884766,5.345523834228516 +16003,0.0416666679084301,0.0,0.0,4.2916669845581055,44097.0,84.62000274658203,7.81162691116333 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b/level-07c-kick-right-giant-ball/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": "kick-right-giant-ball", + "kind": "episodic", + "entry_pose": "standing", + "description": "Right-foot kick for a 300 mm, 0.275 kg ball (bigger than the 250 mm duck) from a standing start, with +-1 deg of gear play in every servo: the maker's backlash kick (70 mm ball) plus 3,000 iterations (13,000 to 16,000) on the giant ball (our fork Mjlab-BallKick-Flat-Backlash-Big-MicroDuck), 4096 envs, 62 min on one RTX 5090. Trained in simulation only. Blind to the ball, so it must sit at the right toe (ball centre 0.205 m ahead in training). On the test picked before training (giant ball, 15 takes, the duck stays standing and the ball is at least 1.25 m away after 2 s) 9 of 15 against 0 of 15 for the small-ball kick it started from (one-sided Fisher p 0.0003); median ball travel at 2 s 1.29 m against 0.77 m. Two costs: it aims worse (the ball reached a goal 1.4 m ahead in 1 of 15 takes against 15 of 15, the new kicks going about 30 degrees off to one side) and on the stock small ball it stayed standing in 7 of 10 takes against 10 of 10 (two-sided p 0.21, not significant). 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": 1.0, + "chain": false, + "training": { + "repo": "pollen-robotics/microduck_rl", + "commit": "53b8971b6", + "branch": "develop", + "dirty": true, + "source_file": "bigkick-2026-10-25-it16000.onnx" + } +} diff --git a/level-07c-kick-right-giant-ball/patches/witcheer_ballkick_big_env_cfg.py b/level-07c-kick-right-giant-ball/patches/witcheer_ballkick_big_env_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..09668bdcb9c4424a7ffe2b2ff1ac90c14587b7c9 --- /dev/null +++ b/level-07c-kick-right-giant-ball/patches/witcheer_ballkick_big_env_cfg.py @@ -0,0 +1,198 @@ +"""witcheer fork: Microduck BallKick with a GIANT ball (300 mm, bigger than the duck), gear play, sim only. + +Not a Pollen file. Lane: witcheer's robotics lane (simulation only). Registered as +``Mjlab-BallKick-Flat-Backlash-Big-MicroDuck`` by one import line appended to the end of +``tasks/__init__.py``; nothing else in the Pollen tree is edited. + +Why: the plain kick (level 7, 70 mm / 15 g ball) is the one trick of ours that already reads in a +single frame, and the obvious visual question is how big a ball this little duck can kick. A +feasibility sweep on 2026-10-24 (seed policy only, no training, 1-env takes, flat floor, goal at 1.2-1.4 m) +answered "all of them": the backlash kick (09l kickbl model_13000, trained on the 70 mm ball) moved balls of +radius 0.09 / 0.105 / 0.12 / 0.15 / 0.18 m (0.10 / 0.135 / 0.176 / 0.275 / 0.397 kg, mass scaled with r^2 from the +maker's ball) every take, upright, with the ball ending in the goal. Median ball travel from its start at +t = 1 s / 2 s: 0.80 / 1.25 m on the maker's 70 mm ball (32 takes), then 0.66 / 1.23, 0.54 / 1.12, 0.47 / 1.01, +0.35 / 0.74 and 0.27 / 0.57 m (6 takes each, r = 0.09 ... 0.18). So a giant ball needs no training to MOVE, but the +kick gets weaker the bigger the ball (the policy was rewarded for 1.0 m/s on a 15 g ball), and that is what this +item trains. + +The ball: radius 0.15 m (300 mm across, 1.2x the 250 mm duck, ~3x the width of its head, ~92 x 128 mm +in the model), mass 0.275 kg (thin hollow shell, 15 g x (0.15/0.035)^2, inertia 2/3 m r^2), blue +(contrast on camera, no physics effect). Seed on this ball: 0.35 m at 1 s, 0.74 m at 2 s (max 0.86 of 6 +takes), roughly 0.45 m/s of ball speed, so the capped forward-velocity term pays ~5 of its 12. + +What changes against ``Mjlab-BallKick-Flat-Backlash-MicroDuck`` (every other line of the cfg is +reused, nothing copied): + +- the ball entity (radius, mass, colour as above); +- ``reset_ball``: nominal ball-centre offset in the robot's yaw frame x = 0.205 (was 0.09), y = -0.042 + (the right foot's line, unchanged), ``ball_radius`` 0.15 so the ball spawns resting on the floor. + 0.205 - 0.15 = 0.055 keeps the nominal REAR SURFACE of the ball where the small ball's was + (0.09 - 0.035), so the strike point on the foot is the one the seed learned; the +-0.015 m placement + noise is unchanged. Proven by the 1-env takes: the ball stays put until the swing (no solver ejection + at reset) up to radius 0.18. +- NOTHING else: rewards, target kick speed (1.0 m/s, forward term capped at it, overshoot penalty), + curricula, obs, command, DR and terminations are the backlash kick's. One variable moves (the ball), + so a reward or take difference against the seed is the ball. An optional aim term (``ball_lateral``, + speed perpendicular to the reset heading, weight -``MICRODUCK_BIGKICK_AIM_W``) exists but is OFF + (default 0): the seed already puts 84% of its takes (27 of 32, 70 mm... see below) inside a 0.70 m goal + at 1.2 m with a median aim of +11 degrees, so aim is not the limiting factor. + +Verdict / clip overrides (read at import, i.e. at process start; training never sets them): + +- ``MICRODUCK_BIGBALL_RADIUS`` (m, default 0.15) and ``MICRODUCK_BIGBALL_MASS`` (kg, default 0.275). +- ``MICRODUCK_BIGKICK_GOAL=1`` (PLAY cfg only): adds a static GOAL entity (four posts, two crossbars, + two top rails, a soft net) with the mouth line at x = ``MICRODUCK_BIGKICK_GOAL_X`` m (default 1.4) on the + world +x axis, 1.00 m wide, 0.50 m high, 0.40 m deep, and a reset event ``face_goal`` (between + ``set_ground_state`` and ``reset_ball``, so the ball spawns from the final pose) that turns the standing + duck to face +x and zeroes the spawn xy offset, so every take is a penalty: the policy is BLIND to the + ball and the goal, the kick goes along the heading at reset, and the goal only shows where that heading + leads. Training never builds the goal. The net geoms carry an overdamped contact (a stiff net bounced the + ball back out of the goal in the first build). Goal geometry, the face_goal yaw and the ball offset are + proven by ``bigkick-play-check-2026-10-24.sh``. +""" + +import math +import os + +import mujoco +import torch + +from mjlab.entity import EntityCfg +from mjlab.managers import EventTermCfg, RewardTermCfg +from mjlab.tasks.registry import register_mjlab_task + +from mjlab_microduck.robot.microduck_constants import MICRODUCK_BACKLASH_ROBOT_CFG, MICRODUCK_BALL_XML +from mjlab_microduck.tasks import MicroduckBallKickRlCfg, MicroduckOnPolicyRunner +from mjlab_microduck.tasks import mdp as microduck_mdp +from mjlab_microduck.tasks.backlash import make_backlash_variant +from mjlab_microduck.tasks.microduck_ball_kick_env_cfg import ( + BALL_OFFSET_ABS_Y, + make_microduck_ball_kick_env_cfg, +) + +TASK_ID = "Mjlab-BallKick-Flat-Backlash-Big-MicroDuck" + +BALL_RADIUS = float(os.environ.get("MICRODUCK_BIGBALL_RADIUS", "0.15")) +BALL_MASS = float(os.environ.get("MICRODUCK_BIGBALL_MASS", "0.275")) +# nominal rear surface of the ball in the robot yaw frame = the small ball's (0.09 - 0.035) +BALL_REAR_X = 0.055 +BALL_OFFSET_X = BALL_REAR_X + BALL_RADIUS +BALL_RGBA = (0.10, 0.45, 1.00, 1.0) + +AIM_W = float(os.environ.get("MICRODUCK_BIGKICK_AIM_W", "0.0")) + +GOAL_ON = os.environ.get("MICRODUCK_BIGKICK_GOAL", "") not in ("", "0") +GOAL_X = float(os.environ.get("MICRODUCK_BIGKICK_GOAL_X", "1.4")) +GOAL_W, GOAL_H, GOAL_D, POST_R = 1.00, 0.50, 0.40, 0.015 + + +def _big_ball_spec() -> mujoco.MjSpec: + spec = mujoco.MjSpec.from_file(str(MICRODUCK_BALL_XML)) + geom = spec.geom("ball_geom") + geom.size[0] = BALL_RADIUS + geom.rgba[:] = BALL_RGBA + body = spec.body("ball") + body.pos[:] = (0.3, 0.0, BALL_RADIUS) + body.mass = BALL_MASS + inertia = (2.0 / 3.0) * BALL_MASS * BALL_RADIUS**2 # thin hollow sphere, as ball.xml + body.inertia[:] = (inertia, inertia, inertia) + return spec + + +def _goal_spec() -> mujoco.MjSpec: + """Static goal in WORLD coordinates (the entity sits at the origin): mouth line at x = GOAL_X, opening along y.""" + spec = mujoco.MjSpec() + body = spec.worldbody.add_body(name="goal") + x0, x1, hw = GOAL_X, GOAL_X + GOAL_D, GOAL_W / 2 + white, net = (0.97, 0.97, 0.97, 1.0), (0.9, 0.95, 1.0, 0.28) + + def cyl(name, p0, p1): + # cylinder from p0 to p1 (MuJoCo "fromto" capsule-free cylinder), frame-agnostic + g = body.add_geom(name=name, type=mujoco.mjtGeom.mjGEOM_CYLINDER, size=[POST_R, 0, 0], rgba=white) + g.fromto[:] = (*p0, *p1) + + for sx, x in (("f", x0), ("b", x1)): + for sy, y in (("l", -hw), ("r", hw)): + cyl(f"post_{sx}{sy}", (x, y, 0.0), (x, y, GOAL_H)) + cyl(f"bar_{sx}", (x, -hw, GOAL_H), (x, hw, GOAL_H)) + for sy, y in (("l", -hw), ("r", hw)): + cyl(f"rail_{sy}", (x0, y, GOAL_H), (x1, y, GOAL_H)) + # nets: thin boxes that stop the ball (back + both sides, roof left open on purpose). a stiff default contact bounced the ball + # back OUT of the goal at ~0.5 m/s (seed takes, 2026-10-24), so the net geoms carry priority 1 (their solref wins the contact mix) + # and an overdamped solref (time constant 0.05 s, damping ratio 1.5): the ball sinks ~4 cm into the net and stays, like a net. + def soft(g): + g.priority = 1 + g.solref[:] = (0.05, 1.5) + + soft(body.add_geom(name="net_back", type=mujoco.mjtGeom.mjGEOM_BOX, size=[0.003, hw, GOAL_H / 2], + pos=[x1, 0.0, GOAL_H / 2], rgba=net)) + for sy, y in (("l", -hw), ("r", hw)): + soft(body.add_geom(name=f"net_{sy}", type=mujoco.mjtGeom.mjGEOM_BOX, size=[GOAL_D / 2, 0.003, GOAL_H / 2], + pos=[(x0 + x1) / 2, y, GOAL_H / 2], rgba=net)) + return spec + + +def ball_lateral_speed(env, asset_name: str = "ball") -> torch.Tensor: + """|ball velocity component perpendicular to the per-env kick direction| (m/s, xy). Used with a NEGATIVE weight: aim straight.""" + ball = env.scene[asset_name] + v = ball.data.root_link_lin_vel_w[:, :2] + d = microduck_mdp._ball_kick_dir(env) + lat = -v[:, 0] * d[:, 1] + v[:, 1] * d[:, 0] + return torch.nan_to_num(lat.abs(), nan=0.0) + + +def face_goal(env, env_ids, yaw: float = 0.0, zero_xy: bool = True): + """Reset event (PLAY, goal mode): turn the freshly spawned standing duck to world yaw ``yaw`` and put it at its env origin xy. + + Rotates the existing orientation by (yaw - current yaw) about world z, so the +-5 deg tilt noise of + ``set_ground_state`` survives. Must sit between set_ground_state and reset_ball in the event order. + """ + if env_ids is None or len(env_ids) == 0: + return + env_ids = env_ids.to(env.device) + robot = env.scene["robot"] + root = env.sim.data.qpos[env_ids][:, robot.indexing.free_joint_q_adr].clone() + w, x, y, z = root[:, 3], root[:, 4], root[:, 5], root[:, 6] + cur = torch.atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z)) + d = yaw - cur + cw, sw = torch.cos(d / 2), torch.sin(d / 2) + pose = root.clone() + pose[:, 3] = cw * w - sw * z + pose[:, 4] = cw * x - sw * y + pose[:, 5] = cw * y + sw * x + pose[:, 6] = cw * z + sw * w + if zero_xy: + pose[:, 0] = env.scene.terrain.env_origins[env_ids, 0] + pose[:, 1] = env.scene.terrain.env_origins[env_ids, 1] + robot.write_root_link_pose_to_sim(pose, env_ids) + + +def make_witcheer_ballkick_big_env_cfg(play: bool = False): + cfg = make_microduck_ball_kick_env_cfg(play=play) + cfg.scene.entities = { + **cfg.scene.entities, + "ball": EntityCfg(spec_fn=_big_ball_spec, init_state=EntityCfg.InitialStateCfg(pos=(0.3, 0.0, BALL_RADIUS))), + } + rb = cfg.events["reset_ball"].params + rb["offset"] = (BALL_OFFSET_X, -BALL_OFFSET_ABS_Y) # right foot line (the base task is right-footed) + rb["ball_radius"] = BALL_RADIUS + if AIM_W != 0.0: # optional, off by default (see the docstring) + cfg.rewards["ball_lateral"] = RewardTermCfg(func=ball_lateral_speed, weight=-AIM_W, params={"asset_name": "ball"}) + if play and GOAL_ON: + cfg.scene.entities["goal"] = EntityCfg(spec_fn=_goal_spec, init_state=EntityCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0))) + events = {} + for k, v in cfg.events.items(): + if k == "reset_ball": + events["face_goal"] = EventTermCfg(func=face_goal, mode="reset", params={"yaw": 0.0, "zero_xy": True}) + events[k] = v + cfg.events = events + return make_backlash_variant(cfg, MICRODUCK_BACKLASH_ROBOT_CFG) + + +register_mjlab_task( + task_id=TASK_ID, + env_cfg=make_witcheer_ballkick_big_env_cfg(), + play_env_cfg=make_witcheer_ballkick_big_env_cfg(play=True), + rl_cfg=MicroduckBallKickRlCfg, + runner_cls=MicroduckOnPolicyRunner, +) diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..940f12974d15725f47952b38716c75651dbcdb5c --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t1.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.1mm grav_b=(+0.02,+0.07,-1.00) root_w=(-0.000,+0.000,+0.118) ball=(+0.217,-0.036,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.3mm grav_b=(+0.01,+0.07,-1.00) ball=(+0.217,-0.036,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.4mm grav_b=(+0.05,+0.13,-0.99) ball=(+0.217,-0.036,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 128.8mm grav_b=(-0.21,+0.25,-0.95) ball=(+0.253,-0.053,+0.159) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 125.1mm grav_b=(-0.14,+0.20,-0.97) ball=(+0.366,-0.090,+0.168) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 112.7mm grav_b=(+0.03,-0.02,-1.00) ball=(+0.472,-0.133,+0.149) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 113.1mm grav_b=(+0.07,-0.01,-1.00) ball=(+0.573,-0.181,+0.150) r=0.07m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(+0.07,+0.00,-1.00) ball=(+0.674,-0.229,+0.150) r=0.07m +[headless_play] t= 0.70s step= 35 trunk_z= 113.8mm grav_b=(+0.06,+0.00,-1.00) ball=(+0.775,-0.277,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.877,-0.324,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 113.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.978,-0.372,+0.150) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 113.3mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.079,-0.420,+0.150) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.181,-0.468,+0.150) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.237,-0.504,+0.159) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.225,-0.528,+0.148) r=0.07m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.221,-0.559,+0.150) r=0.07m +[headless_play] t= 1.50s step= 75 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.218,-0.589,+0.150) r=0.07m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.214,-0.620,+0.150) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.211,-0.651,+0.150) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.207,-0.681,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.204,-0.712,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.200,-0.743,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.197,-0.774,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.193,-0.804,+0.150) r=0.07m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.190,-0.835,+0.150) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.186,-0.866,+0.150) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.182,-0.896,+0.150) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.179,-0.927,+0.150) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.175,-0.958,+0.150) r=0.07m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.172,-0.988,+0.150) r=0.07m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.168,-1.019,+0.150) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.165,-1.050,+0.150) r=0.07m +[headless_play] t= 3.10s step= 155 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.161,-1.080,+0.150) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.158,-1.111,+0.150) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.154,-1.142,+0.150) r=0.07m +[headless_play] t= 3.40s step= 170 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.151,-1.173,+0.150) r=0.07m +[headless_play] t= 3.50s step= 175 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.147,-1.203,+0.150) r=0.07m +[headless_play] t= 3.60s step= 180 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.144,-1.234,+0.150) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.140,-1.265,+0.150) r=0.07m +[headless_play] t= 3.80s step= 190 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.136,-1.295,+0.150) r=0.07m +[headless_play] t= 3.90s step= 195 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.133,-1.326,+0.150) r=0.07m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.129,-1.357,+0.150) r=0.07m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.126,-1.387,+0.150) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.122,-1.418,+0.150) r=0.07m +[headless_play] t= 4.30s step= 215 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.119,-1.449,+0.150) r=0.07m +[headless_play] t= 4.40s step= 220 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.115,-1.479,+0.150) r=0.07m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.112,-1.510,+0.150) r=0.07m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.108,-1.541,+0.150) r=0.07m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.105,-1.571,+0.150) r=0.07m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.101,-1.602,+0.150) r=0.07m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.098,-1.633,+0.150) r=0.07m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.094,-1.664,+0.150) r=0.07m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.090,-1.694,+0.150) r=0.07m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.087,-1.725,+0.150) r=0.07m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.083,-1.756,+0.150) r=0.07m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.080,-1.786,+0.150) r=0.07m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.076,-1.817,+0.150) r=0.07m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.073,-1.848,+0.150) r=0.07m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.069,-1.878,+0.150) r=0.07m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.066,-1.909,+0.150) r=0.07m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.062,-1.940,+0.150) r=0.07m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 111.6mm grav_b=(+0.08,+0.06,-0.99) ball=(+0.211,-0.036,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.8mm grav_b=(+0.09,+0.14,-0.99) ball=(+0.216,-0.037,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..bdb62c85cb2e15d9c06d5372b9e6d3694b6a0e21 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t10.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.5mm grav_b=(-0.04,-0.00,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.202,-0.034,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.4mm grav_b=(-0.05,-0.00,-1.00) ball=(+0.202,-0.034,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.3mm grav_b=(-0.04,+0.15,-0.99) ball=(+0.202,-0.034,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 128.4mm grav_b=(-0.28,+0.28,-0.92) ball=(+0.244,-0.053,+0.166) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 126.8mm grav_b=(-0.36,+0.29,-0.89) ball=(+0.366,-0.104,+0.185) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(-0.07,+0.11,-0.99) ball=(+0.480,-0.153,+0.147) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 111.8mm grav_b=(+0.03,+0.08,-1.00) ball=(+0.581,-0.198,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 112.4mm grav_b=(-0.03,+0.06,-1.00) ball=(+0.682,-0.243,+0.150) r=0.03m +[headless_play] t= 0.70s step= 35 trunk_z= 113.2mm grav_b=(-0.04,+0.04,-1.00) ball=(+0.782,-0.288,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(-0.04,+0.04,-1.00) ball=(+0.883,-0.333,+0.150) r=0.03m +[headless_play] t= 0.90s step= 45 trunk_z= 113.4mm grav_b=(-0.02,+0.04,-1.00) ball=(+0.983,-0.378,+0.150) r=0.03m +[headless_play] t= 1.00s step= 50 trunk_z= 113.4mm grav_b=(-0.01,+0.04,-1.00) ball=(+1.084,-0.423,+0.150) r=0.03m +[headless_play] t= 1.10s step= 55 trunk_z= 113.6mm grav_b=(-0.01,+0.04,-1.00) ball=(+1.185,-0.467,+0.150) r=0.03m +[headless_play] t= 1.20s step= 60 trunk_z= 113.6mm grav_b=(-0.01,+0.03,-1.00) ball=(+1.238,-0.506,+0.159) r=0.03m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(-0.01,+0.03,-1.00) ball=(+1.223,-0.538,+0.149) r=0.03m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.217,-0.573,+0.150) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.212,-0.608,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.207,-0.644,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.201,-0.679,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 113.9mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.196,-0.714,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.190,-0.749,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.185,-0.784,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.180,-0.819,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.174,-0.855,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.169,-0.890,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.164,-0.925,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.158,-0.960,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.153,-0.995,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.147,-1.031,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.142,-1.066,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.137,-1.101,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.131,-1.136,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.126,-1.171,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.121,-1.206,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.115,-1.242,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.110,-1.277,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.104,-1.312,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.099,-1.347,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.094,-1.382,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.088,-1.418,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.083,-1.453,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.078,-1.488,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.072,-1.523,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.067,-1.558,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.062,-1.593,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.056,-1.629,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 114.1mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.051,-1.664,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.045,-1.699,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.040,-1.734,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.035,-1.769,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.029,-1.805,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.024,-1.840,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.019,-1.875,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.013,-1.910,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.008,-1.945,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.002,-1.980,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.997,-2.016,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.992,-2.051,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.986,-2.086,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.981,-2.121,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 114.2mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.976,-2.156,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.2mm grav_b=(+0.07,+0.04,-1.00) ball=(+0.210,-0.030,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.0mm grav_b=(+0.05,+0.14,-0.99) ball=(+0.212,-0.031,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t11.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..8271bba083f8f010074adae67be3a3d1ff9d8d29 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t11.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.3mm grav_b=(+0.08,-0.02,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.210,-0.036,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 111.9mm grav_b=(+0.07,-0.02,-1.00) ball=(+0.210,-0.036,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.2mm grav_b=(+0.04,+0.12,-0.99) ball=(+0.212,-0.036,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 127.4mm grav_b=(-0.24,+0.27,-0.93) ball=(+0.253,-0.059,+0.162) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 123.2mm grav_b=(-0.13,+0.21,-0.97) ball=(+0.370,-0.110,+0.171) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(+0.00,+0.06,-1.00) ball=(+0.479,-0.159,+0.148) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 112.6mm grav_b=(-0.03,+0.02,-1.00) ball=(+0.584,-0.205,+0.150) r=0.03m +[headless_play] t= 0.60s step= 30 trunk_z= 112.9mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.688,-0.251,+0.150) r=0.03m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.792,-0.298,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 113.7mm grav_b=(-0.01,+0.03,-1.00) ball=(+0.896,-0.344,+0.150) r=0.03m +[headless_play] t= 0.90s step= 45 trunk_z= 112.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.001,-0.390,+0.150) r=0.03m +[headless_play] t= 1.00s step= 50 trunk_z= 112.2mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.105,-0.437,+0.150) r=0.03m +[headless_play] t= 1.10s step= 55 trunk_z= 112.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.209,-0.483,+0.150) r=0.03m +[headless_play] t= 1.20s step= 60 trunk_z= 112.8mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.233,-0.521,+0.158) r=0.03m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.228,-0.558,+0.149) r=0.03m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.227,-0.596,+0.150) r=0.03m +[headless_play] t= 1.50s step= 75 trunk_z= 113.3mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.227,-0.635,+0.150) r=0.03m +[headless_play] t= 1.60s step= 80 trunk_z= 113.2mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.226,-0.674,+0.150) r=0.03m +[headless_play] t= 1.70s step= 85 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.226,-0.712,+0.150) r=0.03m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.225,-0.751,+0.150) r=0.03m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.225,-0.790,+0.150) r=0.03m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.224,-0.828,+0.150) r=0.03m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.224,-0.867,+0.150) r=0.03m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.224,-0.906,+0.150) r=0.03m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.223,-0.944,+0.150) r=0.03m +[headless_play] t= 2.40s step= 120 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.223,-0.983,+0.150) r=0.03m +[headless_play] t= 2.50s step= 125 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.222,-1.021,+0.150) r=0.03m +[headless_play] t= 2.60s step= 130 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.222,-1.060,+0.150) r=0.03m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.221,-1.099,+0.150) r=0.03m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.221,-1.137,+0.150) r=0.03m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.220,-1.176,+0.150) r=0.03m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.220,-1.215,+0.150) r=0.03m +[headless_play] t= 3.10s step= 155 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.219,-1.253,+0.150) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.219,-1.292,+0.150) r=0.03m +[headless_play] t= 3.30s step= 165 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.218,-1.331,+0.150) r=0.03m +[headless_play] t= 3.40s step= 170 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.218,-1.369,+0.150) r=0.03m +[headless_play] t= 3.50s step= 175 trunk_z= 114.0mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.217,-1.408,+0.150) r=0.03m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.217,-1.447,+0.150) r=0.03m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.217,-1.485,+0.150) r=0.03m +[headless_play] t= 3.80s step= 190 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.216,-1.524,+0.150) r=0.03m +[headless_play] t= 3.90s step= 195 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.216,-1.563,+0.150) r=0.03m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.215,-1.601,+0.150) r=0.03m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.215,-1.640,+0.150) r=0.03m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.214,-1.678,+0.150) r=0.03m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.214,-1.717,+0.150) r=0.03m +[headless_play] t= 4.40s step= 220 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.213,-1.756,+0.150) r=0.03m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.213,-1.794,+0.150) r=0.03m +[headless_play] t= 4.60s step= 230 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.212,-1.833,+0.150) r=0.03m +[headless_play] t= 4.70s step= 235 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.212,-1.872,+0.150) r=0.03m +[headless_play] t= 4.80s step= 240 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.211,-1.910,+0.150) r=0.03m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.211,-1.949,+0.150) r=0.03m +[headless_play] t= 5.00s step= 250 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.210,-1.988,+0.150) r=0.03m +[headless_play] t= 5.10s step= 255 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.210,-2.026,+0.150) r=0.03m +[headless_play] t= 5.20s step= 260 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.210,-2.065,+0.150) r=0.03m +[headless_play] t= 5.30s step= 265 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.209,-2.104,+0.150) r=0.03m +[headless_play] t= 5.40s step= 270 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.209,-2.142,+0.150) r=0.03m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.208,-2.181,+0.150) r=0.03m +[headless_play] t= 5.60s step= 280 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.208,-2.220,+0.150) r=0.03m +[headless_play] t= 5.70s step= 285 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.207,-2.258,+0.150) r=0.03m +[headless_play] t= 5.80s step= 290 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.207,-2.297,+0.150) r=0.03m +[headless_play] t= 5.90s step= 295 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.206,-2.335,+0.150) r=0.03m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.1mm grav_b=(-0.06,-0.03,-1.00) ball=(+0.202,-0.029,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(+0.01,+0.11,-0.99) ball=(+0.202,-0.029,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t12.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..bb89539d5a2aad73a115a89bc0bfffba7f25d83c --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t12.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.7mm grav_b=(-0.03,+0.03,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.203,-0.040,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.7mm grav_b=(-0.04,+0.03,-1.00) ball=(+0.203,-0.041,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.0mm grav_b=(+0.03,+0.12,-0.99) ball=(+0.207,-0.042,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 128.2mm grav_b=(-0.25,+0.25,-0.94) ball=(+0.231,-0.057,+0.158) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 127.2mm grav_b=(-0.22,+0.27,-0.94) ball=(+0.353,-0.110,+0.192) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 111.6mm grav_b=(+0.10,+0.04,-0.99) ball=(+0.474,-0.163,+0.144) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 109.4mm grav_b=(+0.11,+0.01,-0.99) ball=(+0.577,-0.210,+0.149) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 116.1mm grav_b=(+0.07,+0.02,-1.00) ball=(+0.680,-0.256,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 114.9mm grav_b=(+0.11,+0.01,-0.99) ball=(+0.783,-0.302,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(+0.13,+0.00,-0.99) ball=(+0.886,-0.349,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.14,+0.00,-0.99) ball=(+0.989,-0.395,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 116.4mm grav_b=(+0.16,+0.01,-0.99) ball=(+1.092,-0.441,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 117.4mm grav_b=(+0.16,+0.01,-0.99) ball=(+1.195,-0.488,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 109.7mm grav_b=(+0.13,-0.01,-0.99) ball=(+1.237,-0.531,+0.159) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 114.2mm grav_b=(+0.08,+0.02,-1.00) ball=(+1.233,-0.574,+0.149) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(+0.09,+0.01,-1.00) ball=(+1.236,-0.619,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 114.4mm grav_b=(+0.09,+0.01,-1.00) ball=(+1.239,-0.664,+0.150) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 114.2mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.241,-0.709,+0.150) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.244,-0.754,+0.150) r=0.08m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.247,-0.799,+0.150) r=0.08m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.249,-0.844,+0.150) r=0.08m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.252,-0.889,+0.150) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.255,-0.934,+0.150) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.257,-0.979,+0.150) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.260,-1.025,+0.150) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.263,-1.070,+0.150) r=0.08m +[headless_play] t= 2.50s step= 125 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.265,-1.115,+0.150) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.268,-1.160,+0.150) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.271,-1.205,+0.150) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.273,-1.250,+0.150) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.276,-1.295,+0.150) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.279,-1.340,+0.150) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.281,-1.385,+0.150) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.284,-1.430,+0.150) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.287,-1.475,+0.150) r=0.08m +[headless_play] t= 3.40s step= 170 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.289,-1.520,+0.150) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.292,-1.565,+0.150) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.295,-1.610,+0.150) r=0.08m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.297,-1.655,+0.150) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.300,-1.700,+0.150) r=0.08m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.303,-1.745,+0.150) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.305,-1.790,+0.150) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.308,-1.835,+0.150) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.311,-1.880,+0.150) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.313,-1.926,+0.150) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.316,-1.971,+0.150) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.319,-2.016,+0.150) r=0.08m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.321,-2.061,+0.150) r=0.08m +[headless_play] t= 4.70s step= 235 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.324,-2.106,+0.150) r=0.08m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.326,-2.151,+0.150) r=0.08m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.329,-2.196,+0.150) r=0.08m +[headless_play] t= 5.00s step= 250 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.332,-2.241,+0.150) r=0.08m +[headless_play] t= 5.10s step= 255 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.334,-2.286,+0.150) r=0.08m +[headless_play] t= 5.20s step= 260 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.337,-2.331,+0.150) r=0.08m +[headless_play] t= 5.30s step= 265 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.340,-2.376,+0.150) r=0.08m +[headless_play] t= 5.40s step= 270 trunk_z= 113.9mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.342,-2.421,+0.150) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.345,-2.466,+0.150) r=0.08m +[headless_play] t= 5.60s step= 280 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.348,-2.511,+0.150) r=0.08m +[headless_play] t= 5.70s step= 285 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.350,-2.556,+0.150) r=0.08m +[headless_play] t= 5.80s step= 290 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.353,-2.601,+0.150) r=0.08m +[headless_play] t= 5.90s step= 295 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.356,-2.646,+0.150) r=0.08m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.1mm grav_b=(-0.09,+0.07,-0.99) ball=(+0.203,-0.038,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 118.2mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.203,-0.038,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t13.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..ed08491d112671d7d29e014d1e4878ef4f295b64 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t13.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.3mm grav_b=(-0.04,+0.07,-1.00) root_w=(-0.000,+0.000,+0.112) ball=(+0.201,-0.039,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.5mm grav_b=(-0.04,+0.06,-1.00) ball=(+0.201,-0.039,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.4mm grav_b=(-0.04,+0.17,-0.98) ball=(+0.201,-0.039,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 129.2mm grav_b=(-0.27,+0.28,-0.92) ball=(+0.240,-0.053,+0.166) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 130.0mm grav_b=(-0.21,+0.34,-0.92) ball=(+0.365,-0.091,+0.191) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 114.6mm grav_b=(-0.02,+0.05,-1.00) ball=(+0.487,-0.132,+0.145) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 113.0mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.594,-0.181,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.700,-0.230,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.807,-0.279,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.913,-0.328,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.020,-0.377,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.127,-0.426,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 114.4mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.233,-0.475,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 114.4mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-0.494,+0.156) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 114.4mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.219,-0.517,+0.149) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 114.4mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.214,-0.541,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.208,-0.566,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.203,-0.590,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.197,-0.615,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.191,-0.639,+0.150) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.186,-0.664,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.180,-0.689,+0.150) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.175,-0.713,+0.150) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.169,-0.738,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.164,-0.762,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.158,-0.787,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.152,-0.811,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.147,-0.836,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.141,-0.860,+0.150) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.136,-0.885,+0.150) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.130,-0.909,+0.150) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.125,-0.934,+0.150) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.119,-0.958,+0.150) r=0.05m +[headless_play] t= 3.20s step= 160 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.113,-0.983,+0.150) r=0.05m +[headless_play] t= 3.30s step= 165 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.108,-1.008,+0.150) r=0.05m +[headless_play] t= 3.40s step= 170 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.102,-1.032,+0.150) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.097,-1.057,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.091,-1.081,+0.150) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.086,-1.106,+0.150) r=0.05m +[headless_play] t= 3.80s step= 190 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.080,-1.130,+0.150) r=0.05m +[headless_play] t= 3.90s step= 195 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.074,-1.155,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.069,-1.179,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.063,-1.204,+0.150) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.058,-1.228,+0.150) r=0.05m +[headless_play] t= 4.30s step= 215 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.052,-1.253,+0.150) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.047,-1.278,+0.150) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.041,-1.302,+0.150) r=0.05m +[headless_play] t= 4.60s step= 230 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.035,-1.327,+0.150) r=0.05m +[headless_play] t= 4.70s step= 235 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.030,-1.351,+0.150) r=0.05m +[headless_play] t= 4.80s step= 240 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.024,-1.376,+0.150) r=0.05m +[headless_play] t= 4.90s step= 245 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.019,-1.400,+0.150) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.013,-1.425,+0.150) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.008,-1.449,+0.150) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.002,-1.474,+0.150) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.996,-1.498,+0.150) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.991,-1.523,+0.150) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.985,-1.548,+0.150) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.980,-1.572,+0.150) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 114.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.974,-1.597,+0.150) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.969,-1.621,+0.150) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 114.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.963,-1.646,+0.150) r=0.05m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.05,+0.04,-1.00) ball=(+0.208,-0.046,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.3mm grav_b=(+0.04,+0.13,-0.99) ball=(+0.208,-0.047,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t14.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..81c399472771c61730e51c7791e96207342d7831 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t14.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.6mm grav_b=(-0.03,-0.05,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.204,-0.041,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.0mm grav_b=(-0.04,-0.04,-1.00) ball=(+0.204,-0.041,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.8mm grav_b=(+0.01,+0.09,-1.00) ball=(+0.204,-0.041,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 127.5mm grav_b=(-0.26,+0.22,-0.94) ball=(+0.240,-0.062,+0.163) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 127.2mm grav_b=(-0.31,+0.28,-0.91) ball=(+0.357,-0.124,+0.192) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 107.2mm grav_b=(+0.01,+0.08,-1.00) ball=(+0.471,-0.187,+0.144) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 107.1mm grav_b=(+0.09,+0.06,-0.99) ball=(+0.571,-0.248,+0.150) r=0.07m +[headless_play] t= 0.60s step= 30 trunk_z= 110.4mm grav_b=(+0.07,+0.03,-1.00) ball=(+0.671,-0.310,+0.150) r=0.07m +[headless_play] t= 0.70s step= 35 trunk_z= 113.1mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.771,-0.372,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 111.9mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.871,-0.434,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 112.2mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.971,-0.496,+0.150) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 112.4mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.071,-0.558,+0.150) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 112.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.171,-0.620,+0.150) r=0.08m +[headless_play] t= 1.20s step= 60 trunk_z= 112.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.271,-0.681,+0.150) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.371,-0.743,+0.150) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.471,-0.805,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 113.1mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.571,-0.867,+0.150) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 113.1mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.671,-0.929,+0.150) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.771,-0.991,+0.150) r=0.08m +[headless_play] t= 1.80s step= 90 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.871,-1.053,+0.150) r=0.08m +[headless_play] t= 1.90s step= 95 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.971,-1.114,+0.150) r=0.08m +[headless_play] t= 2.00s step= 100 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.071,-1.176,+0.150) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.171,-1.238,+0.150) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.271,-1.300,+0.150) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.371,-1.362,+0.150) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.471,-1.424,+0.150) r=0.08m +[headless_play] t= 2.50s step= 125 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.571,-1.486,+0.150) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.671,-1.548,+0.150) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.771,-1.609,+0.150) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.871,-1.671,+0.150) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.971,-1.733,+0.150) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.071,-1.795,+0.150) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.171,-1.857,+0.150) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.271,-1.919,+0.150) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.370,-1.981,+0.150) r=0.08m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.470,-2.043,+0.150) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.570,-2.104,+0.150) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.670,-2.166,+0.150) r=0.08m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.770,-2.228,+0.150) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.870,-2.290,+0.150) r=0.08m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+3.970,-2.352,+0.150) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 113.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.070,-2.414,+0.150) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.170,-2.476,+0.150) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.270,-2.537,+0.150) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.370,-2.599,+0.150) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.470,-2.661,+0.150) r=0.08m +[headless_play] t= 4.50s step= 225 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.570,-2.723,+0.150) r=0.08m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.670,-2.785,+0.150) r=0.08m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.770,-2.847,+0.150) r=0.08m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.870,-2.909,+0.150) r=0.08m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.970,-2.971,+0.150) r=0.08m +[headless_play] t= 5.00s step= 250 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.070,-3.032,+0.150) r=0.08m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.170,-3.094,+0.150) r=0.08m +[headless_play] t= 5.20s step= 260 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.270,-3.156,+0.150) r=0.08m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.370,-3.218,+0.150) r=0.08m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.470,-3.280,+0.150) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.570,-3.342,+0.150) r=0.08m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.670,-3.404,+0.150) r=0.08m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.770,-3.466,+0.150) r=0.08m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.870,-3.527,+0.150) r=0.08m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.970,-3.589,+0.150) r=0.08m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(-0.05,-0.02,-1.00) ball=(+0.210,-0.041,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(+0.03,+0.09,-1.00) ball=(+0.210,-0.041,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t15.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..dec8a8ae82de3fb48b5586a40159a48ec9a5e7ca --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t15.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.0mm grav_b=(-0.01,-0.05,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.203,-0.027,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.1mm grav_b=(-0.02,-0.05,-1.00) ball=(+0.203,-0.027,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.02,+0.08,-1.00) ball=(+0.203,-0.027,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 129.0mm grav_b=(-0.30,+0.27,-0.91) ball=(+0.232,-0.046,+0.163) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 128.6mm grav_b=(-0.32,+0.35,-0.88) ball=(+0.350,-0.104,+0.196) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 122.4mm grav_b=(-0.05,+0.17,-0.98) ball=(+0.466,-0.162,+0.145) r=0.00m +[headless_play] t= 0.50s step= 25 trunk_z= 115.6mm grav_b=(-0.09,+0.08,-0.99) ball=(+0.564,-0.209,+0.150) r=0.02m +[headless_play] t= 0.60s step= 30 trunk_z= 113.1mm grav_b=(+0.04,+0.04,-1.00) ball=(+0.662,-0.256,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 107.1mm grav_b=(+0.09,+0.02,-1.00) ball=(+0.760,-0.303,+0.150) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 113.6mm grav_b=(+0.04,-0.04,-1.00) ball=(+0.857,-0.351,+0.150) r=0.10m +[headless_play] t= 0.90s step= 45 trunk_z= 113.9mm grav_b=(+0.01,-0.04,-1.00) ball=(+0.955,-0.398,+0.150) r=0.10m +[headless_play] t= 1.00s step= 50 trunk_z= 114.1mm grav_b=(-0.00,-0.02,-1.00) ball=(+1.053,-0.445,+0.150) r=0.10m +[headless_play] t= 1.10s step= 55 trunk_z= 114.1mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.151,-0.492,+0.150) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 114.0mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.244,-0.540,+0.151) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 113.9mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.252,-0.595,+0.149) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.267,-0.652,+0.150) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 114.0mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.282,-0.710,+0.150) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 114.1mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.297,-0.767,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 114.1mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.313,-0.825,+0.150) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.328,-0.882,+0.150) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.343,-0.940,+0.150) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.358,-0.997,+0.150) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.00,-0.02,-1.00) ball=(+1.373,-1.054,+0.150) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(+0.00,-0.02,-1.00) ball=(+1.389,-1.112,+0.150) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(+0.00,-0.02,-1.00) ball=(+1.404,-1.169,+0.150) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.419,-1.227,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.434,-1.284,+0.150) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.449,-1.342,+0.150) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.465,-1.399,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.480,-1.457,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.495,-1.514,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.510,-1.572,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.525,-1.629,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.541,-1.687,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.556,-1.744,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.571,-1.802,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.586,-1.859,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.601,-1.917,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.617,-1.974,+0.150) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.632,-2.032,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.647,-2.089,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.662,-2.147,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.677,-2.204,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 114.3mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.692,-2.262,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.708,-2.319,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.723,-2.377,+0.150) r=0.10m +[headless_play] t= 4.50s step= 225 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.738,-2.434,+0.150) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 114.4mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.753,-2.492,+0.150) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.768,-2.549,+0.150) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.784,-2.607,+0.150) r=0.10m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.799,-2.664,+0.150) r=0.10m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.814,-2.722,+0.150) r=0.10m +[headless_play] t= 5.10s step= 255 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.829,-2.779,+0.150) r=0.10m +[headless_play] t= 5.20s step= 260 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.844,-2.837,+0.150) r=0.10m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.860,-2.894,+0.150) r=0.10m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.875,-2.952,+0.150) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.890,-3.009,+0.150) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.905,-3.067,+0.150) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.920,-3.124,+0.150) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.936,-3.182,+0.150) r=0.10m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.951,-3.239,+0.150) r=0.10m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(-0.06,+0.00,-1.00) ball=(+0.201,-0.052,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.9mm grav_b=(+0.00,+0.12,-0.99) ball=(+0.201,-0.052,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..960ca983a0b9f806090b53e0fff79cd06e730bd2 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t2.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.4mm grav_b=(-0.04,-0.02,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.218,-0.053,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.0mm grav_b=(-0.04,-0.02,-1.00) ball=(+0.218,-0.053,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 121.7mm grav_b=(+0.03,+0.12,-0.99) ball=(+0.218,-0.053,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 126.8mm grav_b=(-0.16,+0.21,-0.96) ball=(+0.238,-0.063,+0.156) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 126.1mm grav_b=(-0.18,+0.26,-0.95) ball=(+0.351,-0.116,+0.169) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 113.2mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.456,-0.169,+0.148) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 114.0mm grav_b=(-0.03,+0.02,-1.00) ball=(+0.553,-0.220,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 113.7mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.651,-0.271,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 113.8mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.748,-0.322,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 113.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.846,-0.374,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.943,-0.425,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.041,-0.476,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.139,-0.527,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.236,-0.579,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.294,-0.635,+0.149) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.339,-0.696,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.385,-0.757,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.430,-0.818,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.475,-0.879,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.520,-0.940,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.565,-1.001,+0.150) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.610,-1.063,+0.150) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.655,-1.124,+0.150) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.700,-1.185,+0.150) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.745,-1.246,+0.150) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.790,-1.307,+0.150) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.835,-1.368,+0.150) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.880,-1.430,+0.150) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.925,-1.491,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.970,-1.552,+0.150) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.015,-1.613,+0.150) r=0.06m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.060,-1.674,+0.150) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.106,-1.735,+0.150) r=0.06m +[headless_play] t= 3.20s step= 160 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.151,-1.796,+0.150) r=0.06m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.196,-1.858,+0.150) r=0.06m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.241,-1.919,+0.150) r=0.06m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.286,-1.980,+0.150) r=0.06m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.331,-2.041,+0.150) r=0.06m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.376,-2.102,+0.150) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.421,-2.163,+0.150) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.466,-2.225,+0.150) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+2.511,-2.286,+0.150) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.556,-2.347,+0.150) r=0.06m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.601,-2.408,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.646,-2.469,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.691,-2.530,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.736,-2.591,+0.150) r=0.06m +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.781,-2.653,+0.150) r=0.06m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.826,-2.714,+0.150) r=0.06m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.872,-2.775,+0.150) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.917,-2.836,+0.150) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.962,-2.897,+0.150) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.007,-2.958,+0.150) r=0.06m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.052,-3.020,+0.150) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.097,-3.081,+0.150) r=0.06m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.142,-3.142,+0.150) r=0.06m +[headless_play] t= 5.50s step= 275 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.187,-3.203,+0.150) r=0.06m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.232,-3.264,+0.150) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.277,-3.325,+0.150) r=0.06m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.322,-3.386,+0.150) r=0.06m +[headless_play] t= 5.90s step= 295 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.367,-3.448,+0.150) r=0.06m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.1mm grav_b=(-0.04,+0.07,-1.00) ball=(+0.216,-0.042,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(+0.00,+0.18,-0.98) ball=(+0.216,-0.042,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..32d2cfd7f2f6e6ccdcc0d09728341a5d6c09002a --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t3.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 116.5mm grav_b=(-0.05,+0.01,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.193,-0.048,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.6mm grav_b=(-0.06,+0.00,-1.00) ball=(+0.194,-0.048,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(+0.01,+0.10,-0.99) ball=(+0.196,-0.049,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 128.1mm grav_b=(-0.22,+0.24,-0.95) ball=(+0.223,-0.067,+0.158) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 126.8mm grav_b=(-0.32,+0.32,-0.89) ball=(+0.334,-0.128,+0.183) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 121.6mm grav_b=(-0.01,+0.17,-0.99) ball=(+0.443,-0.191,+0.145) r=0.02m +[headless_play] t= 0.50s step= 25 trunk_z= 111.7mm grav_b=(+0.05,+0.02,-1.00) ball=(+0.539,-0.248,+0.150) r=0.03m +[headless_play] t= 0.60s step= 30 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.636,-0.305,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 115.1mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.732,-0.362,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.828,-0.419,+0.150) r=0.03m +[headless_play] t= 0.90s step= 45 trunk_z= 113.8mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.924,-0.477,+0.150) r=0.03m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.021,-0.534,+0.150) r=0.03m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.117,-0.591,+0.150) r=0.03m +[headless_play] t= 1.20s step= 60 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.213,-0.648,+0.150) r=0.03m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.310,-0.705,+0.150) r=0.03m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.406,-0.763,+0.150) r=0.03m +[headless_play] t= 1.50s step= 75 trunk_z= 114.0mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.502,-0.820,+0.150) r=0.03m +[headless_play] t= 1.60s step= 80 trunk_z= 114.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.598,-0.877,+0.150) r=0.03m +[headless_play] t= 1.70s step= 85 trunk_z= 114.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.695,-0.934,+0.150) r=0.03m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.791,-0.992,+0.150) r=0.03m +[headless_play] t= 1.90s step= 95 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.887,-1.049,+0.150) r=0.03m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.984,-1.106,+0.150) r=0.03m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.080,-1.163,+0.150) r=0.03m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.176,-1.221,+0.150) r=0.03m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.273,-1.278,+0.150) r=0.03m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.369,-1.335,+0.150) r=0.03m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.465,-1.392,+0.150) r=0.03m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.561,-1.449,+0.150) r=0.03m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.658,-1.507,+0.150) r=0.03m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.754,-1.564,+0.150) r=0.03m +[headless_play] t= 2.90s step= 145 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.850,-1.621,+0.150) r=0.03m +[headless_play] t= 3.00s step= 150 trunk_z= 114.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.947,-1.678,+0.150) r=0.03m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.043,-1.736,+0.150) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.139,-1.793,+0.150) r=0.03m +[headless_play] t= 3.30s step= 165 trunk_z= 114.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.236,-1.850,+0.150) r=0.03m +[headless_play] t= 3.40s step= 170 trunk_z= 114.2mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.332,-1.907,+0.150) r=0.03m +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(+0.00,+0.00,-1.00) ball=(+3.428,-1.964,+0.150) r=0.03m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.524,-2.022,+0.150) r=0.03m +[headless_play] t= 3.70s step= 185 trunk_z= 114.2mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.621,-2.079,+0.150) r=0.03m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.717,-2.136,+0.150) r=0.03m +[headless_play] t= 3.90s step= 195 trunk_z= 114.2mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.813,-2.193,+0.150) r=0.03m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.910,-2.251,+0.150) r=0.03m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.006,-2.308,+0.150) r=0.03m +[headless_play] t= 4.20s step= 210 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.102,-2.365,+0.150) r=0.03m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.199,-2.422,+0.150) r=0.03m +[headless_play] t= 4.40s step= 220 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+4.295,-2.479,+0.150) r=0.03m +[headless_play] t= 4.50s step= 225 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+4.391,-2.537,+0.150) r=0.03m +[headless_play] t= 4.60s step= 230 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+4.487,-2.594,+0.150) r=0.03m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+4.584,-2.651,+0.150) r=0.03m +[headless_play] t= 4.80s step= 240 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.680,-2.708,+0.150) r=0.03m +[headless_play] t= 4.90s step= 245 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+4.776,-2.766,+0.150) r=0.03m +[headless_play] t= 5.00s step= 250 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.873,-2.823,+0.150) r=0.03m +[headless_play] t= 5.10s step= 255 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+4.969,-2.880,+0.150) r=0.03m +[headless_play] t= 5.20s step= 260 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.065,-2.937,+0.150) r=0.03m +[headless_play] t= 5.30s step= 265 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.161,-2.994,+0.150) r=0.03m +[headless_play] t= 5.40s step= 270 trunk_z= 114.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+5.258,-3.052,+0.150) r=0.03m +[headless_play] t= 5.50s step= 275 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.354,-3.109,+0.150) r=0.03m +[headless_play] t= 5.60s step= 280 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.450,-3.166,+0.150) r=0.03m +[headless_play] t= 5.70s step= 285 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.547,-3.223,+0.150) r=0.03m +[headless_play] t= 5.80s step= 290 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.643,-3.281,+0.150) r=0.03m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+5.739,-3.338,+0.150) r=0.03m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.1mm grav_b=(+0.04,-0.04,-1.00) ball=(+0.208,-0.028,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.9mm grav_b=(+0.04,+0.09,-0.99) ball=(+0.209,-0.027,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..dced61cf4340fa462750bac0c03cbf8730a64876 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t4.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.0mm grav_b=(-0.02,+0.07,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.211,-0.047,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.3mm grav_b=(-0.03,+0.06,-1.00) ball=(+0.211,-0.047,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(+0.01,+0.16,-0.99) ball=(+0.211,-0.047,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 128.9mm grav_b=(-0.22,+0.30,-0.93) ball=(+0.255,-0.071,+0.163) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 131.1mm grav_b=(-0.14,+0.21,-0.97) ball=(+0.372,-0.122,+0.167) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 116.1mm grav_b=(-0.04,-0.03,-1.00) ball=(+0.480,-0.171,+0.149) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 116.3mm grav_b=(-0.02,-0.03,-1.00) ball=(+0.584,-0.221,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.687,-0.270,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.791,-0.320,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+0.894,-0.369,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00) ball=(+0.998,-0.419,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.102,-0.468,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.205,-0.518,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.247,-0.568,+0.155) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.256,-0.622,+0.149) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.269,-0.677,+0.150) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.282,-0.733,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.295,-0.789,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.308,-0.844,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.321,-0.900,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 115.8mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.335,-0.956,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.348,-1.011,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.361,-1.067,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.374,-1.122,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.387,-1.178,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 115.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.400,-1.234,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.413,-1.289,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.426,-1.345,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.439,-1.401,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.452,-1.456,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.466,-1.512,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.479,-1.568,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.492,-1.623,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.505,-1.679,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.518,-1.734,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.531,-1.790,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.544,-1.846,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.557,-1.901,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.570,-1.957,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.583,-2.013,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.597,-2.068,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.610,-2.124,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.623,-2.179,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.636,-2.235,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.649,-2.291,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.662,-2.346,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.675,-2.402,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.688,-2.458,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.701,-2.513,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.714,-2.569,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.728,-2.624,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.741,-2.680,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.754,-2.736,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.767,-2.791,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.780,-2.847,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.793,-2.903,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.806,-2.958,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.819,-3.014,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.832,-3.069,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.845,-3.125,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.859,-3.181,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.3mm grav_b=(-0.09,+0.06,-0.99) ball=(+0.196,-0.050,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.0mm grav_b=(-0.04,+0.18,-0.98) ball=(+0.196,-0.050,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..c5339e2e281679d379a031b93049e52ed3e6ec15 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t5.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.6mm grav_b=(+0.00,+0.04,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.203,-0.029,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.9mm grav_b=(-0.00,+0.05,-1.00) ball=(+0.203,-0.029,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.02,+0.16,-0.99) ball=(+0.208,-0.030,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 125.6mm grav_b=(-0.28,+0.25,-0.93) ball=(+0.246,-0.046,+0.161) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 121.1mm grav_b=(-0.30,+0.23,-0.93) ball=(+0.358,-0.089,+0.168) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 108.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.463,-0.132,+0.149) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 112.2mm grav_b=(-0.06,+0.01,-1.00) ball=(+0.564,-0.175,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 112.9mm grav_b=(-0.07,-0.00,-1.00) ball=(+0.664,-0.218,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 114.2mm grav_b=(-0.05,-0.00,-1.00) ball=(+0.764,-0.261,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 111.9mm grav_b=(-0.02,-0.03,-1.00) ball=(+0.865,-0.304,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 111.2mm grav_b=(-0.03,-0.02,-1.00) ball=(+0.965,-0.347,+0.150) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 112.1mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.066,-0.390,+0.150) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 112.2mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.166,-0.433,+0.150) r=0.08m +[headless_play] t= 1.20s step= 60 trunk_z= 112.3mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.243,-0.470,+0.156) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 112.8mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.224,-0.484,+0.148) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.216,-0.503,+0.150) r=0.07m +[headless_play] t= 1.50s step= 75 trunk_z= 113.1mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.208,-0.522,+0.150) r=0.07m +[headless_play] t= 1.60s step= 80 trunk_z= 113.4mm grav_b=(-0.04,-0.00,-1.00) ball=(+1.201,-0.540,+0.150) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.193,-0.559,+0.150) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.185,-0.578,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.177,-0.596,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 113.8mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.170,-0.615,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.162,-0.633,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.154,-0.652,+0.150) r=0.07m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.146,-0.671,+0.150) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.139,-0.689,+0.150) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.131,-0.708,+0.150) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.123,-0.726,+0.150) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.115,-0.745,+0.150) r=0.07m +[headless_play] t= 2.80s step= 140 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.108,-0.764,+0.150) r=0.07m +[headless_play] t= 2.90s step= 145 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.100,-0.782,+0.150) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.092,-0.801,+0.150) r=0.07m +[headless_play] t= 3.10s step= 155 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.084,-0.820,+0.150) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.076,-0.838,+0.150) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.069,-0.857,+0.150) r=0.07m +[headless_play] t= 3.40s step= 170 trunk_z= 114.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.061,-0.875,+0.150) r=0.07m +[headless_play] t= 3.50s step= 175 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.053,-0.894,+0.150) r=0.07m +[headless_play] t= 3.60s step= 180 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.045,-0.913,+0.150) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 114.8mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.038,-0.931,+0.150) r=0.07m +[headless_play] t= 3.80s step= 190 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.030,-0.950,+0.150) r=0.07m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.022,-0.969,+0.150) r=0.07m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.014,-0.987,+0.150) r=0.07m +[headless_play] t= 4.10s step= 205 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.007,-1.006,+0.150) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.999,-1.024,+0.150) r=0.07m +[headless_play] t= 4.30s step= 215 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.991,-1.043,+0.150) r=0.07m +[headless_play] t= 4.40s step= 220 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.983,-1.062,+0.150) r=0.07m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.976,-1.080,+0.150) r=0.07m +[headless_play] t= 4.60s step= 230 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.968,-1.099,+0.150) r=0.07m +[headless_play] t= 4.70s step= 235 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.960,-1.117,+0.150) r=0.07m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.952,-1.136,+0.150) r=0.07m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.945,-1.155,+0.150) r=0.07m +[headless_play] t= 5.00s step= 250 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.937,-1.173,+0.150) r=0.07m +[headless_play] t= 5.10s step= 255 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.929,-1.192,+0.150) r=0.07m +[headless_play] t= 5.20s step= 260 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.921,-1.211,+0.150) r=0.07m +[headless_play] t= 5.30s step= 265 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.914,-1.229,+0.150) r=0.07m +[headless_play] t= 5.40s step= 270 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.906,-1.248,+0.150) r=0.07m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.898,-1.266,+0.150) r=0.07m +[headless_play] t= 5.60s step= 280 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.890,-1.285,+0.150) r=0.07m +[headless_play] t= 5.70s step= 285 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.883,-1.304,+0.150) r=0.07m +[headless_play] t= 5.80s step= 290 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.875,-1.322,+0.150) r=0.07m +[headless_play] t= 5.90s step= 295 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.867,-1.341,+0.150) r=0.07m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(-0.04,-0.01,-1.00) ball=(+0.205,-0.033,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.3mm grav_b=(-0.02,+0.12,-0.99) ball=(+0.205,-0.033,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..a9a8e33a0135fe037d2db2cabfb35fd75b5687cc --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t6.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 116.1mm grav_b=(+0.02,-0.04,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.200,-0.033,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.3mm grav_b=(+0.01,-0.04,-1.00) ball=(+0.201,-0.033,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.01,+0.08,-1.00) ball=(+0.205,-0.032,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 126.3mm grav_b=(-0.28,+0.19,-0.94) ball=(+0.240,-0.049,+0.160) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 123.8mm grav_b=(-0.26,+0.26,-0.93) ball=(+0.361,-0.105,+0.179) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 111.6mm grav_b=(-0.06,+0.05,-1.00) ball=(+0.476,-0.158,+0.148) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 114.6mm grav_b=(-0.05,-0.02,-1.00) ball=(+0.578,-0.203,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 115.3mm grav_b=(-0.04,-0.03,-1.00) ball=(+0.681,-0.248,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.783,-0.293,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 114.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.886,-0.339,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 114.7mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.988,-0.384,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.091,-0.429,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.193,-0.474,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 114.6mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.236,-0.515,+0.159) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 114.7mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.224,-0.553,+0.149) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 114.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.221,-0.593,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.217,-0.632,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.214,-0.672,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.210,-0.712,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.207,-0.751,+0.150) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.203,-0.791,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.200,-0.831,+0.150) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.196,-0.871,+0.150) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.193,-0.910,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 114.8mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.189,-0.950,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.186,-0.990,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.182,-1.030,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.179,-1.069,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.175,-1.109,+0.150) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.172,-1.149,+0.150) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.168,-1.189,+0.150) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.165,-1.228,+0.150) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.162,-1.268,+0.150) r=0.05m +[headless_play] t= 3.20s step= 160 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.158,-1.308,+0.150) r=0.05m +[headless_play] t= 3.30s step= 165 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.155,-1.348,+0.150) r=0.05m +[headless_play] t= 3.40s step= 170 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.151,-1.387,+0.150) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.148,-1.427,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 114.9mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.144,-1.467,+0.150) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.141,-1.506,+0.150) r=0.05m +[headless_play] t= 3.80s step= 190 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.137,-1.546,+0.150) r=0.05m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.134,-1.586,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 114.9mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.130,-1.626,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.127,-1.665,+0.150) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.123,-1.705,+0.150) r=0.05m +[headless_play] t= 4.30s step= 215 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.120,-1.745,+0.150) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.116,-1.785,+0.150) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.113,-1.824,+0.150) r=0.05m +[headless_play] t= 4.60s step= 230 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.109,-1.864,+0.150) r=0.05m +[headless_play] t= 4.70s step= 235 trunk_z= 115.0mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.106,-1.904,+0.150) r=0.05m +[headless_play] t= 4.80s step= 240 trunk_z= 115.0mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.102,-1.944,+0.150) r=0.05m +[headless_play] t= 4.90s step= 245 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.099,-1.983,+0.150) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.095,-2.023,+0.150) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.092,-2.063,+0.150) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.088,-2.103,+0.150) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.085,-2.142,+0.150) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.081,-2.182,+0.150) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.078,-2.222,+0.150) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.074,-2.261,+0.150) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.071,-2.301,+0.150) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.067,-2.341,+0.150) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 115.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.064,-2.381,+0.150) r=0.05m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.7mm grav_b=(+0.07,+0.04,-1.00) ball=(+0.208,-0.030,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.7mm grav_b=(+0.03,+0.14,-0.99) ball=(+0.210,-0.031,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..5ce0c19177071420d3d494cdbd7f052cdd84df5a --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t7.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.7mm grav_b=(+0.06,-0.06,-1.00) root_w=(-0.000,+0.000,+0.120) ball=(+0.197,-0.028,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 119.2mm grav_b=(+0.04,-0.06,-1.00) ball=(+0.198,-0.028,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.0mm grav_b=(+0.01,+0.10,-1.00) ball=(+0.200,-0.028,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 126.6mm grav_b=(-0.22,+0.20,-0.96) ball=(+0.237,-0.046,+0.164) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 125.5mm grav_b=(-0.27,+0.29,-0.92) ball=(+0.357,-0.097,+0.182) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 111.9mm grav_b=(-0.04,+0.08,-1.00) ball=(+0.469,-0.145,+0.148) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 114.3mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.568,-0.189,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 114.9mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.667,-0.233,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.766,-0.278,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.865,-0.322,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.965,-0.366,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.064,-0.410,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.163,-0.455,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.240,-0.496,+0.156) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.225,-0.527,+0.148) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.220,-0.561,+0.150) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 115.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.216,-0.595,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.211,-0.629,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.206,-0.663,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.201,-0.697,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.197,-0.732,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.192,-0.766,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.187,-0.800,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.183,-0.834,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.178,-0.868,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.173,-0.902,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.168,-0.936,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.164,-0.970,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.159,-1.004,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.154,-1.039,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.150,-1.073,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.145,-1.107,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.140,-1.141,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.136,-1.175,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.131,-1.209,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.126,-1.243,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.121,-1.277,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.117,-1.312,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.112,-1.346,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.107,-1.380,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.103,-1.414,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.098,-1.448,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.093,-1.482,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.088,-1.516,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.084,-1.550,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.079,-1.585,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.074,-1.619,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.070,-1.653,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.065,-1.687,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.060,-1.721,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.056,-1.755,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.051,-1.789,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.046,-1.823,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.041,-1.858,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.037,-1.892,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.032,-1.926,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.027,-1.960,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.023,-1.994,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.018,-2.028,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.013,-2.062,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 115.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.008,-2.096,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.201,-0.032,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(+0.04,+0.11,-0.99) ball=(+0.201,-0.032,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..f5a2cf0599de3ce99da41d1e9e914fb0aef48b3b --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t8.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.5mm grav_b=(-0.00,-0.08,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.206,-0.040,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 115.8mm grav_b=(-0.01,-0.07,-1.00) ball=(+0.207,-0.040,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.6mm grav_b=(-0.02,+0.11,-0.99) ball=(+0.209,-0.040,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 130.6mm grav_b=(-0.25,+0.30,-0.92) ball=(+0.260,-0.064,+0.168) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 131.0mm grav_b=(-0.16,+0.22,-0.96) ball=(+0.391,-0.125,+0.176) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 116.7mm grav_b=(-0.04,+0.04,-1.00) ball=(+0.510,-0.182,+0.148) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.620,-0.236,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 120.1mm grav_b=(-0.02,-0.01,-1.00) ball=(+0.729,-0.289,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 114.9mm grav_b=(-0.04,-0.02,-1.00) ball=(+0.839,-0.343,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(-0.04,-0.02,-1.00) ball=(+0.948,-0.397,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.058,-0.451,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 115.3mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.167,-0.505,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.250,-0.559,+0.155) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 115.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.260,-0.618,+0.149) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 115.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.280,-0.680,+0.150) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.299,-0.742,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 115.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.319,-0.803,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.338,-0.865,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.358,-0.927,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.377,-0.989,+0.150) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.397,-1.051,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.416,-1.113,+0.150) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.436,-1.175,+0.150) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.455,-1.237,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.475,-1.299,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.494,-1.361,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.514,-1.423,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.533,-1.485,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 115.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.553,-1.547,+0.150) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.572,-1.608,+0.150) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.592,-1.670,+0.150) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.611,-1.732,+0.150) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.631,-1.794,+0.150) r=0.05m +[headless_play] t= 3.20s step= 160 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.650,-1.856,+0.150) r=0.05m +[headless_play] t= 3.30s step= 165 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.670,-1.918,+0.150) r=0.05m +[headless_play] t= 3.40s step= 170 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.689,-1.980,+0.150) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.709,-2.042,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.728,-2.104,+0.150) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.748,-2.166,+0.150) r=0.05m +[headless_play] t= 3.80s step= 190 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.767,-2.228,+0.150) r=0.05m +[headless_play] t= 3.90s step= 195 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.787,-2.290,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.806,-2.351,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.826,-2.413,+0.150) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.845,-2.475,+0.150) r=0.05m +[headless_play] t= 4.30s step= 215 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.865,-2.537,+0.150) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.884,-2.599,+0.150) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.904,-2.661,+0.150) r=0.05m +[headless_play] t= 4.60s step= 230 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.923,-2.723,+0.150) r=0.05m +[headless_play] t= 4.70s step= 235 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.943,-2.785,+0.150) r=0.05m +[headless_play] t= 4.80s step= 240 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.962,-2.847,+0.150) r=0.05m +[headless_play] t= 4.90s step= 245 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.982,-2.909,+0.150) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.001,-2.971,+0.150) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.021,-3.033,+0.150) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+2.041,-3.095,+0.150) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.060,-3.156,+0.150) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.080,-3.218,+0.150) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+2.099,-3.280,+0.150) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+2.119,-3.342,+0.150) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.138,-3.404,+0.150) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+2.158,-3.466,+0.150) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.177,-3.528,+0.150) r=0.05m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.2mm grav_b=(+0.03,+0.07,-1.00) ball=(+0.197,-0.050,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.0mm grav_b=(-0.03,+0.21,-0.98) ball=(+0.203,-0.053,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..c3c41d668dd4c9ffff23ffb3eee4c2b2e2803ccf --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bkna-t9.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.7mm grav_b=(-0.06,-0.08,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.216,-0.038,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.0mm grav_b=(-0.07,-0.07,-1.00) ball=(+0.216,-0.038,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 125.1mm grav_b=(-0.04,+0.13,-0.99) ball=(+0.216,-0.038,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 128.2mm grav_b=(-0.28,+0.25,-0.93) ball=(+0.249,-0.049,+0.169) r=0.00m +[headless_play] t= 0.30s step= 15 trunk_z= 128.1mm grav_b=(-0.33,+0.33,-0.88) ball=(+0.361,-0.094,+0.187) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 111.8mm grav_b=(+0.05,+0.02,-1.00) ball=(+0.468,-0.135,+0.145) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 107.7mm grav_b=(+0.10,+0.03,-0.99) ball=(+0.561,-0.164,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 115.3mm grav_b=(+0.01,+0.04,-1.00) ball=(+0.654,-0.193,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 112.3mm grav_b=(-0.03,-0.02,-1.00) ball=(+0.748,-0.222,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 113.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.841,-0.251,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 112.9mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.935,-0.280,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.028,-0.309,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.122,-0.338,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.215,-0.367,+0.150) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.287,-0.384,+0.155) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.296,-0.361,+0.149) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.313,-0.338,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.330,-0.316,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.347,-0.293,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.364,-0.271,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.381,-0.248,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.398,-0.226,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.415,-0.203,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.432,-0.181,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.449,-0.158,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.466,-0.136,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.483,-0.113,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.501,-0.091,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.518,-0.068,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.535,-0.046,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.552,-0.023,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.569,-0.001,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.586,+0.022,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.603,+0.044,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.620,+0.067,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.637,+0.090,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.650,+0.112,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.649,+0.133,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.648,+0.154,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.647,+0.175,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.646,+0.196,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.645,+0.217,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.644,+0.238,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.643,+0.259,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.642,+0.280,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.641,+0.301,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.640,+0.322,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.639,+0.343,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.634,+0.351,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.628,+0.350,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.621,+0.348,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.614,+0.347,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.607,+0.345,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.600,+0.344,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.594,+0.342,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.587,+0.341,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.580,+0.339,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.573,+0.338,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.566,+0.336,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.560,+0.335,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.553,+0.333,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(+0.07,-0.06,-1.00) ball=(+0.202,-0.047,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.4mm grav_b=(+0.05,+0.09,-0.99) ball=(+0.209,-0.047,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..f5361c2f184492e97c601c0dad694ebfec77fecc --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t1.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.1mm grav_b=(-0.07,+0.05,-1.00) root_w=(-0.000,+0.000,+0.118) ball=(+0.218,-0.031,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.08,+0.05,-1.00) ball=(+0.218,-0.031,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.0mm grav_b=(-0.09,+0.01,-1.00) ball=(+0.218,-0.031,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 114.2mm grav_b=(-0.01,-0.01,-1.00) ball=(+0.237,-0.032,+0.150) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 112.1mm grav_b=(-0.10,+0.05,-0.99) ball=(+0.266,-0.027,+0.150) r=0.06m +[headless_play] t= 0.40s step= 20 trunk_z= 114.2mm grav_b=(-0.04,+0.03,-1.00) ball=(+0.296,-0.023,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 114.0mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.326,-0.018,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.356,-0.014,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.385,-0.009,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.415,-0.005,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.445,+0.000,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.475,+0.005,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.505,+0.009,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.535,+0.014,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.565,+0.018,+0.150) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.594,+0.023,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.624,+0.027,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.654,+0.032,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.684,+0.036,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.714,+0.041,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.744,+0.045,+0.150) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.773,+0.050,+0.150) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.803,+0.055,+0.150) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.833,+0.059,+0.150) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.863,+0.064,+0.150) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.893,+0.068,+0.150) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.923,+0.073,+0.150) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.953,+0.077,+0.150) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.982,+0.082,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.012,+0.086,+0.150) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.042,+0.091,+0.150) r=0.06m +[headless_play] t= 3.00s step= 150 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.072,+0.096,+0.150) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.102,+0.100,+0.150) r=0.06m +[headless_play] t= 3.20s step= 160 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.132,+0.105,+0.150) r=0.06m +[headless_play] t= 3.30s step= 165 trunk_z= 113.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.161,+0.109,+0.150) r=0.06m +[headless_play] t= 3.40s step= 170 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.191,+0.114,+0.150) r=0.06m +[headless_play] t= 3.50s step= 175 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.221,+0.118,+0.150) r=0.06m +[headless_play] t= 3.60s step= 180 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.251,+0.123,+0.150) r=0.06m +[headless_play] t= 3.70s step= 185 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.281,+0.127,+0.150) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.311,+0.132,+0.150) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.341,+0.136,+0.150) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.370,+0.141,+0.150) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.400,+0.146,+0.150) r=0.06m +[headless_play] t= 4.20s step= 210 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.430,+0.150,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.460,+0.155,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.490,+0.159,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.520,+0.164,+0.150) r=0.06m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.549,+0.168,+0.150) r=0.06m +[headless_play] t= 4.70s step= 235 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.579,+0.173,+0.150) r=0.06m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.609,+0.177,+0.150) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.639,+0.182,+0.150) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.653,+0.185,+0.150) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.651,+0.186,+0.150) r=0.06m +[headless_play] t= 5.20s step= 260 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.649,+0.188,+0.150) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.646,+0.189,+0.150) r=0.06m +[headless_play] t= 5.40s step= 270 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.644,+0.191,+0.150) r=0.06m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.642,+0.192,+0.150) r=0.06m +[headless_play] t= 5.60s step= 280 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.640,+0.194,+0.150) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.638,+0.195,+0.150) r=0.06m +[headless_play] t= 5.80s step= 290 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.636,+0.197,+0.150) r=0.06m +[headless_play] t= 5.90s step= 295 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.633,+0.199,+0.150) r=0.06m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.7mm grav_b=(+0.06,-0.05,-1.00) ball=(+0.211,-0.039,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.4mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.216,-0.040,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..311c6a0ffdb56573c82c949e6f4003c6feb04496 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t10.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.0mm grav_b=(-0.04,-0.04,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.196,-0.032,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.5mm grav_b=(-0.04,-0.04,-1.00) ball=(+0.197,-0.032,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.6mm grav_b=(-0.04,+0.02,-1.00) ball=(+0.202,-0.032,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 116.9mm grav_b=(+0.06,+0.01,-1.00) ball=(+0.235,-0.033,+0.158) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 114.6mm grav_b=(+0.04,+0.09,-0.99) ball=(+0.276,-0.029,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 118.1mm grav_b=(+0.09,+0.05,-0.99) ball=(+0.317,-0.023,+0.150) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 116.0mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.359,-0.017,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 114.3mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.401,-0.011,+0.150) r=0.07m +[headless_play] t= 0.70s step= 35 trunk_z= 114.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.442,-0.005,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 113.7mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.484,+0.001,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.525,+0.007,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.567,+0.013,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.609,+0.019,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.650,+0.025,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.692,+0.031,+0.150) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.734,+0.037,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.775,+0.043,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.817,+0.049,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.858,+0.055,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.900,+0.061,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.942,+0.067,+0.150) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.983,+0.073,+0.150) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.025,+0.079,+0.150) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.066,+0.085,+0.150) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.108,+0.091,+0.150) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.150,+0.097,+0.150) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.191,+0.103,+0.150) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.233,+0.109,+0.150) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.275,+0.115,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.316,+0.121,+0.150) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.358,+0.127,+0.150) r=0.06m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.399,+0.133,+0.150) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.441,+0.139,+0.150) r=0.06m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.483,+0.145,+0.150) r=0.06m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.524,+0.151,+0.150) r=0.06m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.566,+0.157,+0.150) r=0.06m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.608,+0.163,+0.150) r=0.06m +[headless_play] t= 3.60s step= 180 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.649,+0.169,+0.150) r=0.06m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.654,+0.171,+0.150) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.651,+0.173,+0.150) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.648,+0.174,+0.150) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.645,+0.176,+0.150) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.643,+0.177,+0.150) r=0.06m +[headless_play] t= 4.20s step= 210 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.640,+0.179,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.637,+0.180,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.634,+0.182,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.632,+0.184,+0.150) r=0.06m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.629,+0.185,+0.150) r=0.06m +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.626,+0.187,+0.150) r=0.06m +[headless_play] t= 4.80s step= 240 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.623,+0.188,+0.150) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.621,+0.190,+0.150) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.618,+0.191,+0.150) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.615,+0.193,+0.150) r=0.06m +[headless_play] t= 5.20s step= 260 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.613,+0.194,+0.150) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.610,+0.196,+0.150) r=0.06m +[headless_play] t= 5.40s step= 270 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.607,+0.198,+0.150) r=0.06m +[headless_play] t= 5.50s step= 275 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.604,+0.199,+0.150) r=0.06m +[headless_play] t= 5.60s step= 280 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.602,+0.201,+0.150) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.599,+0.202,+0.150) r=0.06m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.596,+0.204,+0.150) r=0.06m +[headless_play] t= 5.90s step= 295 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.593,+0.205,+0.150) r=0.06m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.9mm grav_b=(+0.05,-0.07,-1.00) ball=(+0.206,-0.054,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.213,-0.053,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t11.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t11.log new file mode 100644 index 0000000000000000000000000000000000000000..27206c3733a08b1343162ee75cbeec8d2f66dda1 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t11.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.8mm grav_b=(-0.03,-0.03,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.217,-0.041,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.2mm grav_b=(-0.04,-0.03,-1.00) ball=(+0.217,-0.041,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.8mm grav_b=(-0.02,+0.02,-1.00) ball=(+0.217,-0.041,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 114.5mm grav_b=(+0.09,-0.01,-1.00) ball=(+0.241,-0.044,+0.153) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 109.5mm grav_b=(+0.02,+0.03,-1.00) ball=(+0.273,-0.043,+0.150) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 113.0mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.306,-0.041,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 112.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.339,-0.039,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 112.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.372,-0.037,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 112.2mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.405,-0.035,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 112.2mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.438,-0.034,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 112.3mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.471,-0.032,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 112.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.504,-0.030,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 112.4mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.537,-0.028,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 112.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.570,-0.026,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 112.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.603,-0.024,+0.150) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 112.5mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.636,-0.022,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 112.5mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.669,-0.020,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 112.5mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.702,-0.018,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 112.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.735,-0.017,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 112.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.768,-0.015,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 112.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.801,-0.013,+0.150) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 112.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.834,-0.011,+0.150) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 112.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.867,-0.009,+0.150) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 112.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.900,-0.007,+0.150) r=0.06m +[headless_play] t= 2.30s step= 115 trunk_z= 112.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.933,-0.005,+0.150) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 112.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.966,-0.003,+0.150) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.999,-0.002,+0.150) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.032,+0.000,+0.150) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.065,+0.002,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.098,+0.004,+0.150) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.131,+0.006,+0.150) r=0.06m +[headless_play] t= 3.00s step= 150 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.164,+0.008,+0.150) r=0.06m +[headless_play] t= 3.10s step= 155 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.197,+0.010,+0.150) r=0.06m +[headless_play] t= 3.20s step= 160 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.230,+0.012,+0.150) r=0.06m +[headless_play] t= 3.30s step= 165 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.263,+0.013,+0.150) r=0.06m +[headless_play] t= 3.40s step= 170 trunk_z= 112.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.296,+0.015,+0.150) r=0.06m +[headless_play] t= 3.50s step= 175 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.329,+0.017,+0.150) r=0.06m +[headless_play] t= 3.60s step= 180 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.362,+0.019,+0.150) r=0.06m +[headless_play] t= 3.70s step= 185 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.395,+0.021,+0.150) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.428,+0.023,+0.150) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.461,+0.025,+0.150) r=0.06m +[headless_play] t= 4.00s step= 200 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.494,+0.027,+0.150) r=0.06m +[headless_play] t= 4.10s step= 205 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.527,+0.029,+0.150) r=0.06m +[headless_play] t= 4.20s step= 210 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.560,+0.030,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 112.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.593,+0.032,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.626,+0.034,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 112.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.653,+0.035,+0.150) r=0.06m +[headless_play] t= 4.60s step= 230 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.652,+0.034,+0.150) r=0.06m +[headless_play] t= 4.70s step= 235 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.650,+0.033,+0.150) r=0.06m +[headless_play] t= 4.80s step= 240 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.647,+0.032,+0.150) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.645,+0.030,+0.150) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.643,+0.029,+0.150) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.640,+0.028,+0.150) r=0.06m +[headless_play] t= 5.20s step= 260 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.638,+0.027,+0.150) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.636,+0.025,+0.150) r=0.06m +[headless_play] t= 5.40s step= 270 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.634,+0.024,+0.150) r=0.06m +[headless_play] t= 5.50s step= 275 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.631,+0.023,+0.150) r=0.06m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.629,+0.021,+0.150) r=0.06m +[headless_play] t= 5.70s step= 285 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.627,+0.020,+0.150) r=0.06m +[headless_play] t= 5.80s step= 290 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.625,+0.019,+0.150) r=0.06m +[headless_play] t= 5.90s step= 295 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.622,+0.017,+0.150) r=0.06m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.8mm grav_b=(+0.05,+0.00,-1.00) ball=(+0.204,-0.036,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.7mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.205,-0.037,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t12.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t12.log new file mode 100644 index 0000000000000000000000000000000000000000..5ea0de41f44cc292fa6154670126558faf4ad33c --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t12.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 116.1mm grav_b=(-0.06,+0.00,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.215,-0.037,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.1mm grav_b=(-0.07,+0.00,-1.00) ball=(+0.215,-0.037,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 121.4mm grav_b=(-0.06,+0.02,-1.00) ball=(+0.215,-0.037,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 112.8mm grav_b=(+0.06,-0.02,-1.00) ball=(+0.241,-0.041,+0.160) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 109.7mm grav_b=(-0.00,+0.04,-1.00) ball=(+0.276,-0.041,+0.149) r=0.07m +[headless_play] t= 0.40s step= 20 trunk_z= 115.9mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.313,-0.037,+0.150) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 114.6mm grav_b=(-0.06,+0.02,-1.00) ball=(+0.350,-0.034,+0.150) r=0.09m +[headless_play] t= 0.60s step= 30 trunk_z= 112.0mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.386,-0.031,+0.150) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 112.4mm grav_b=(-0.02,+0.02,-1.00) ball=(+0.423,-0.028,+0.150) r=0.10m +[headless_play] t= 0.80s step= 40 trunk_z= 112.7mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.459,-0.024,+0.150) r=0.10m +[headless_play] t= 0.90s step= 45 trunk_z= 112.7mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.496,-0.021,+0.150) r=0.10m +[headless_play] t= 1.00s step= 50 trunk_z= 112.6mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.532,-0.018,+0.150) r=0.10m +[headless_play] t= 1.10s step= 55 trunk_z= 112.7mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.569,-0.015,+0.150) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 112.8mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.606,-0.011,+0.150) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 112.9mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.642,-0.008,+0.150) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 112.9mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.679,-0.005,+0.150) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 113.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.715,-0.002,+0.150) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 113.0mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.752,+0.002,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 113.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.788,+0.005,+0.150) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 113.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.825,+0.008,+0.150) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 113.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.862,+0.011,+0.150) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 113.2mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.898,+0.015,+0.150) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 113.2mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.935,+0.018,+0.150) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 113.2mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.971,+0.021,+0.150) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 113.2mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.008,+0.024,+0.150) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.044,+0.028,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 113.3mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.081,+0.031,+0.150) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 113.3mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.118,+0.034,+0.150) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.154,+0.037,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.191,+0.041,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.227,+0.044,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.264,+0.047,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.300,+0.050,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.337,+0.054,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.373,+0.057,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.410,+0.060,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.447,+0.063,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.483,+0.066,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.520,+0.070,+0.150) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.556,+0.073,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.593,+0.076,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.629,+0.079,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.654,+0.081,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.652,+0.080,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.649,+0.079,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.647,+0.078,+0.150) r=0.10m +[headless_play] t= 4.50s step= 225 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.644,+0.076,+0.150) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.642,+0.075,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.639,+0.074,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.636,+0.073,+0.150) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.634,+0.072,+0.150) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.631,+0.070,+0.150) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.629,+0.069,+0.150) r=0.09m +[headless_play] t= 5.20s step= 260 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.626,+0.068,+0.150) r=0.09m +[headless_play] t= 5.30s step= 265 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.624,+0.067,+0.150) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.621,+0.065,+0.150) r=0.09m +[headless_play] t= 5.50s step= 275 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.618,+0.064,+0.150) r=0.09m +[headless_play] t= 5.60s step= 280 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.616,+0.063,+0.150) r=0.09m +[headless_play] t= 5.70s step= 285 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.613,+0.062,+0.150) r=0.09m +[headless_play] t= 5.80s step= 290 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.611,+0.061,+0.150) r=0.09m +[headless_play] t= 5.90s step= 295 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.608,+0.059,+0.150) r=0.09m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(+0.07,+0.07,-0.99) ball=(+0.198,-0.057,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.8mm grav_b=(-0.03,+0.06,-1.00) ball=(+0.205,-0.061,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t13.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t13.log new file mode 100644 index 0000000000000000000000000000000000000000..4474bf80e64293495b370ccad94a7389b67e8e89 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t13.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.1mm grav_b=(+0.02,-0.00,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.211,-0.053,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.211,-0.053,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 121.5mm grav_b=(+0.02,+0.07,-1.00) ball=(+0.211,-0.053,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 114.7mm grav_b=(+0.13,+0.02,-0.99) ball=(+0.249,-0.056,+0.159) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 113.9mm grav_b=(+0.05,+0.11,-0.99) ball=(+0.290,-0.057,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 113.0mm grav_b=(+0.10,+0.01,-0.99) ball=(+0.330,-0.058,+0.150) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 112.8mm grav_b=(+0.07,+0.01,-1.00) ball=(+0.371,-0.059,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 112.6mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.411,-0.060,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 112.6mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.451,-0.061,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 112.4mm grav_b=(+0.07,+0.01,-1.00) ball=(+0.492,-0.062,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 112.7mm grav_b=(+0.09,+0.00,-1.00) ball=(+0.532,-0.063,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 112.8mm grav_b=(+0.07,-0.00,-1.00) ball=(+0.573,-0.064,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 112.8mm grav_b=(+0.05,-0.00,-1.00) ball=(+0.613,-0.065,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 112.7mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.653,-0.066,+0.150) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 112.7mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.694,-0.067,+0.150) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 112.8mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.734,-0.068,+0.150) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 112.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.775,-0.069,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 112.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.815,-0.069,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 112.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.855,-0.070,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 113.0mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.896,-0.071,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.936,-0.072,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.977,-0.073,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.017,-0.074,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.057,-0.075,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.098,-0.076,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.138,-0.077,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 112.9mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.179,-0.078,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.219,-0.079,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.259,-0.080,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.300,-0.081,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.340,-0.082,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.381,-0.083,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 112.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.421,-0.084,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.461,-0.084,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.502,-0.085,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.542,-0.086,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.583,-0.087,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.623,-0.088,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.654,-0.089,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.653,-0.091,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.650,-0.093,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.647,-0.095,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.644,-0.097,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 112.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.642,-0.099,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.639,-0.101,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.636,-0.103,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.634,-0.105,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.631,-0.107,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.628,-0.109,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.626,-0.111,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.623,-0.113,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.620,-0.115,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.618,-0.117,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.615,-0.119,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.612,-0.121,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.610,-0.123,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.607,-0.125,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.604,-0.127,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.602,-0.129,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.599,-0.131,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.596,-0.133,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.2mm grav_b=(-0.07,-0.01,-1.00) ball=(+0.213,-0.048,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(-0.01,+0.06,-1.00) ball=(+0.213,-0.048,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t14.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t14.log new file mode 100644 index 0000000000000000000000000000000000000000..54915f88159530b27e3ec98249eb8656bbf68054 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t14.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 117.1mm grav_b=(+0.04,-0.01,-1.00) root_w=(-0.000,+0.000,+0.117) ball=(+0.197,-0.035,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 117.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.198,-0.036,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.8mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.203,-0.036,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 112.1mm grav_b=(+0.09,-0.01,-1.00) ball=(+0.234,-0.036,+0.149) r=0.04m +[headless_play] t= 0.30s step= 15 trunk_z= 111.1mm grav_b=(+0.06,+0.06,-1.00) ball=(+0.268,-0.031,+0.150) r=0.07m +[headless_play] t= 0.40s step= 20 trunk_z= 114.4mm grav_b=(+0.06,-0.00,-1.00) ball=(+0.303,-0.027,+0.150) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 112.6mm grav_b=(+0.07,-0.00,-1.00) ball=(+0.337,-0.022,+0.150) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 112.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.372,-0.017,+0.150) r=0.08m +[headless_play] t= 0.70s step= 35 trunk_z= 113.2mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.407,-0.012,+0.150) r=0.08m +[headless_play] t= 0.80s step= 40 trunk_z= 113.2mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.441,-0.007,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 112.7mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.476,-0.003,+0.150) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 113.2mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.511,+0.002,+0.150) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 113.1mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.545,+0.007,+0.150) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.580,+0.012,+0.150) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 113.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+0.615,+0.017,+0.150) r=0.07m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.649,+0.021,+0.150) r=0.07m +[headless_play] t= 1.50s step= 75 trunk_z= 113.2mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.684,+0.026,+0.150) r=0.07m +[headless_play] t= 1.60s step= 80 trunk_z= 113.4mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.719,+0.031,+0.150) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 113.4mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.753,+0.036,+0.150) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.788,+0.041,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.823,+0.045,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.857,+0.050,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.892,+0.055,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.927,+0.060,+0.150) r=0.07m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.961,+0.065,+0.150) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.996,+0.069,+0.150) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.031,+0.074,+0.150) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.065,+0.079,+0.150) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.100,+0.084,+0.150) r=0.07m +[headless_play] t= 2.80s step= 140 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.135,+0.089,+0.150) r=0.07m +[headless_play] t= 2.90s step= 145 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.169,+0.093,+0.150) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.204,+0.098,+0.150) r=0.07m +[headless_play] t= 3.10s step= 155 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.239,+0.103,+0.150) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.273,+0.108,+0.150) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.308,+0.113,+0.150) r=0.07m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.343,+0.117,+0.150) r=0.07m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.377,+0.122,+0.150) r=0.07m +[headless_play] t= 3.60s step= 180 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.412,+0.127,+0.150) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.447,+0.132,+0.150) r=0.07m +[headless_play] t= 3.80s step= 190 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.481,+0.137,+0.150) r=0.07m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.516,+0.141,+0.150) r=0.07m +[headless_play] t= 4.00s step= 200 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.551,+0.146,+0.150) r=0.07m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.585,+0.151,+0.150) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 113.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.620,+0.156,+0.150) r=0.07m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.652,+0.160,+0.150) r=0.07m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.653,+0.162,+0.150) r=0.07m +[headless_play] t= 4.50s step= 225 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.650,+0.163,+0.150) r=0.07m +[headless_play] t= 4.60s step= 230 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.648,+0.164,+0.150) r=0.07m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.645,+0.166,+0.150) r=0.07m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.643,+0.167,+0.150) r=0.07m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.640,+0.168,+0.150) r=0.07m +[headless_play] t= 5.00s step= 250 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.638,+0.170,+0.150) r=0.07m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.635,+0.171,+0.150) r=0.07m +[headless_play] t= 5.20s step= 260 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.633,+0.172,+0.150) r=0.07m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.630,+0.174,+0.150) r=0.07m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.628,+0.175,+0.150) r=0.07m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.625,+0.176,+0.150) r=0.07m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.623,+0.177,+0.150) r=0.07m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.620,+0.179,+0.150) r=0.07m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.618,+0.180,+0.150) r=0.07m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.615,+0.181,+0.150) r=0.07m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.210,-0.028,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.8mm grav_b=(+0.04,+0.03,-1.00) ball=(+0.210,-0.029,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t15.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t15.log new file mode 100644 index 0000000000000000000000000000000000000000..cdb12654c11d92053f38543c82e0b75c038e2d6d --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t15.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.1mm grav_b=(-0.08,-0.05,-1.00) root_w=(-0.000,+0.000,+0.110) ball=(+0.202,-0.054,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.8mm grav_b=(-0.09,-0.04,-1.00) ball=(+0.202,-0.054,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.6mm grav_b=(-0.07,+0.02,-1.00) ball=(+0.202,-0.054,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 117.7mm grav_b=(+0.10,-0.01,-0.99) ball=(+0.236,-0.062,+0.165) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 116.8mm grav_b=(+0.08,+0.06,-1.00) ball=(+0.278,-0.067,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 122.0mm grav_b=(+0.04,+0.07,-1.00) ball=(+0.320,-0.069,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 116.4mm grav_b=(+0.03,-0.02,-1.00) ball=(+0.361,-0.070,+0.150) r=0.09m +[headless_play] t= 0.60s step= 30 trunk_z= 109.4mm grav_b=(-0.00,-0.05,-1.00) ball=(+0.403,-0.072,+0.150) r=0.11m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(-0.03,-0.03,-1.00) ball=(+0.445,-0.073,+0.150) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 114.6mm grav_b=(+0.00,-0.01,-1.00) ball=(+0.487,-0.075,+0.150) r=0.12m +[headless_play] t= 0.90s step= 45 trunk_z= 114.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.528,-0.077,+0.150) r=0.12m +[headless_play] t= 1.00s step= 50 trunk_z= 114.5mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.570,-0.078,+0.150) r=0.12m +[headless_play] t= 1.10s step= 55 trunk_z= 114.5mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.612,-0.080,+0.150) r=0.12m +[headless_play] t= 1.20s step= 60 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.653,-0.081,+0.150) r=0.12m +[headless_play] t= 1.30s step= 65 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.695,-0.083,+0.150) r=0.12m +[headless_play] t= 1.40s step= 70 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.737,-0.085,+0.150) r=0.12m +[headless_play] t= 1.50s step= 75 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.779,-0.086,+0.150) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.820,-0.088,+0.150) r=0.12m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.862,-0.090,+0.150) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.904,-0.091,+0.150) r=0.12m +[headless_play] t= 1.90s step= 95 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.946,-0.093,+0.150) r=0.12m +[headless_play] t= 2.00s step= 100 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.987,-0.094,+0.150) r=0.12m +[headless_play] t= 2.10s step= 105 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.029,-0.096,+0.150) r=0.12m +[headless_play] t= 2.20s step= 110 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.071,-0.098,+0.150) r=0.12m +[headless_play] t= 2.30s step= 115 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.113,-0.099,+0.150) r=0.12m +[headless_play] t= 2.40s step= 120 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.154,-0.101,+0.150) r=0.12m +[headless_play] t= 2.50s step= 125 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.196,-0.102,+0.150) r=0.12m +[headless_play] t= 2.60s step= 130 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.238,-0.104,+0.150) r=0.12m +[headless_play] t= 2.70s step= 135 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.280,-0.106,+0.150) r=0.12m +[headless_play] t= 2.80s step= 140 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.321,-0.107,+0.150) r=0.12m +[headless_play] t= 2.90s step= 145 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.363,-0.109,+0.150) r=0.12m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.405,-0.111,+0.150) r=0.12m +[headless_play] t= 3.10s step= 155 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.447,-0.112,+0.150) r=0.12m +[headless_play] t= 3.20s step= 160 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.488,-0.114,+0.150) r=0.12m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.530,-0.115,+0.150) r=0.12m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.572,-0.117,+0.150) r=0.12m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.614,-0.119,+0.150) r=0.12m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.653,-0.120,+0.150) r=0.12m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.655,-0.124,+0.150) r=0.12m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.651,-0.129,+0.150) r=0.12m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.648,-0.133,+0.150) r=0.12m +[headless_play] t= 4.00s step= 200 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.644,-0.138,+0.150) r=0.12m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.641,-0.142,+0.150) r=0.12m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.637,-0.146,+0.150) r=0.12m +[headless_play] t= 4.30s step= 215 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.634,-0.151,+0.150) r=0.12m +[headless_play] t= 4.40s step= 220 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.630,-0.155,+0.150) r=0.12m +[headless_play] t= 4.50s step= 225 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.627,-0.160,+0.150) r=0.12m +[headless_play] t= 4.60s step= 230 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.623,-0.164,+0.150) r=0.12m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.620,-0.168,+0.150) r=0.12m +[headless_play] t= 4.80s step= 240 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.617,-0.173,+0.150) r=0.12m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.613,-0.177,+0.150) r=0.12m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.610,-0.182,+0.150) r=0.12m +[headless_play] t= 5.10s step= 255 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.606,-0.186,+0.150) r=0.12m +[headless_play] t= 5.20s step= 260 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.603,-0.190,+0.150) r=0.12m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.599,-0.195,+0.150) r=0.12m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.596,-0.199,+0.150) r=0.12m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.592,-0.204,+0.150) r=0.12m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.589,-0.208,+0.150) r=0.12m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.585,-0.212,+0.150) r=0.12m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.582,-0.217,+0.150) r=0.12m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.579,-0.221,+0.150) r=0.12m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.8mm grav_b=(-0.03,-0.07,-1.00) ball=(+0.219,-0.042,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.2mm grav_b=(-0.06,+0.01,-1.00) ball=(+0.219,-0.042,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3837b58afa7fdfa64b2f2f8e32640bd9a590a439 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t2.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.8mm grav_b=(+0.07,+0.08,-0.99) root_w=(-0.000,+0.000,+0.120) ball=(+0.219,-0.038,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(+0.06,+0.07,-1.00) ball=(+0.219,-0.038,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 119.8mm grav_b=(+0.14,+0.03,-0.99) ball=(+0.219,-0.038,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 113.2mm grav_b=(+0.10,-0.04,-0.99) ball=(+0.235,-0.040,+0.153) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 110.3mm grav_b=(-0.04,-0.02,-1.00) ball=(+0.263,-0.039,+0.149) r=0.06m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(-0.03,+0.02,-1.00) ball=(+0.290,-0.032,+0.150) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 119.1mm grav_b=(-0.00,+0.05,-1.00) ball=(+0.318,-0.026,+0.150) r=0.07m +[headless_play] t= 0.60s step= 30 trunk_z= 109.8mm grav_b=(+0.06,+0.07,-1.00) ball=(+0.345,-0.020,+0.150) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 112.6mm grav_b=(+0.08,-0.02,-1.00) ball=(+0.373,-0.013,+0.150) r=0.11m +[headless_play] t= 0.80s step= 40 trunk_z= 113.7mm grav_b=(+0.07,-0.03,-1.00) ball=(+0.400,-0.007,+0.150) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 113.6mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.428,-0.001,+0.150) r=0.11m +[headless_play] t= 1.00s step= 50 trunk_z= 113.2mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.455,+0.006,+0.150) r=0.11m +[headless_play] t= 1.10s step= 55 trunk_z= 112.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.483,+0.012,+0.150) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 112.9mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.510,+0.018,+0.150) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 113.0mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.538,+0.025,+0.150) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 113.2mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.565,+0.031,+0.150) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 113.2mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.593,+0.037,+0.150) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 113.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.620,+0.044,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 113.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.648,+0.050,+0.150) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 113.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.675,+0.056,+0.150) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 113.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.703,+0.063,+0.150) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 113.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.730,+0.069,+0.150) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 113.3mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.758,+0.075,+0.150) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 113.3mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.785,+0.082,+0.150) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.813,+0.088,+0.150) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.840,+0.094,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.868,+0.101,+0.150) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.895,+0.107,+0.150) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.923,+0.113,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.950,+0.120,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.978,+0.126,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.005,+0.132,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.033,+0.139,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.060,+0.145,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.088,+0.151,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.115,+0.158,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.143,+0.164,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.170,+0.170,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.198,+0.177,+0.150) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.225,+0.183,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.253,+0.189,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.280,+0.196,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.308,+0.202,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.335,+0.208,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.363,+0.215,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.390,+0.221,+0.150) r=0.10m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.418,+0.227,+0.150) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.445,+0.234,+0.150) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.473,+0.240,+0.150) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 113.6mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.500,+0.246,+0.150) r=0.10m +[headless_play] t= 4.90s step= 245 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.528,+0.253,+0.150) r=0.10m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.555,+0.259,+0.150) r=0.10m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.583,+0.265,+0.150) r=0.10m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.610,+0.272,+0.150) r=0.10m +[headless_play] t= 5.30s step= 265 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.638,+0.278,+0.150) r=0.10m +[headless_play] t= 5.40s step= 270 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.652,+0.284,+0.150) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.650,+0.289,+0.150) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.649,+0.295,+0.150) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.647,+0.300,+0.150) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.645,+0.306,+0.150) r=0.10m +[headless_play] t= 5.90s step= 295 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.643,+0.311,+0.150) r=0.10m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.9mm grav_b=(-0.02,-0.08,-1.00) ball=(+0.215,-0.031,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 119.9mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.215,-0.031,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..d42d4dbe500597feb8e443c3dfe875779651f238 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t3.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.9mm grav_b=(-0.04,-0.07,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.200,-0.041,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.4mm grav_b=(-0.04,-0.07,-1.00) ball=(+0.200,-0.040,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.202,-0.040,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 116.2mm grav_b=(+0.09,+0.01,-1.00) ball=(+0.234,-0.042,+0.162) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 113.2mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.274,-0.042,+0.149) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 114.9mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.315,-0.040,+0.150) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 114.9mm grav_b=(+0.04,+0.03,-1.00) ball=(+0.356,-0.038,+0.150) r=0.03m +[headless_play] t= 0.60s step= 30 trunk_z= 113.7mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.397,-0.036,+0.150) r=0.03m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.438,-0.033,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.479,-0.031,+0.150) r=0.03m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.520,-0.029,+0.150) r=0.03m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.561,-0.027,+0.150) r=0.03m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.601,-0.024,+0.150) r=0.03m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.642,-0.022,+0.150) r=0.03m +[headless_play] t= 1.30s step= 65 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.683,-0.020,+0.150) r=0.03m +[headless_play] t= 1.40s step= 70 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.724,-0.018,+0.150) r=0.03m +[headless_play] t= 1.50s step= 75 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.765,-0.015,+0.150) r=0.03m +[headless_play] t= 1.60s step= 80 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.806,-0.013,+0.150) r=0.03m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.847,-0.011,+0.150) r=0.03m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.888,-0.009,+0.150) r=0.03m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.929,-0.006,+0.150) r=0.03m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.970,-0.004,+0.150) r=0.03m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.011,-0.002,+0.150) r=0.03m +[headless_play] t= 2.20s step= 110 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.052,+0.000,+0.150) r=0.03m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.092,+0.003,+0.150) r=0.03m +[headless_play] t= 2.40s step= 120 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.133,+0.005,+0.150) r=0.03m +[headless_play] t= 2.50s step= 125 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.174,+0.007,+0.150) r=0.03m +[headless_play] t= 2.60s step= 130 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.215,+0.009,+0.150) r=0.03m +[headless_play] t= 2.70s step= 135 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.256,+0.012,+0.150) r=0.03m +[headless_play] t= 2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.297,+0.014,+0.150) r=0.03m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.338,+0.016,+0.150) r=0.03m +[headless_play] t= 3.00s step= 150 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.379,+0.018,+0.150) r=0.03m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.420,+0.021,+0.150) r=0.03m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.461,+0.023,+0.150) r=0.03m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.502,+0.025,+0.150) r=0.03m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.543,+0.027,+0.150) r=0.03m +[headless_play] t= 3.50s step= 175 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.584,+0.030,+0.150) r=0.03m +[headless_play] t= 3.60s step= 180 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.624,+0.032,+0.150) r=0.03m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.655,+0.033,+0.150) r=0.03m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.654,+0.033,+0.150) r=0.03m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.650,+0.033,+0.150) r=0.03m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.647,+0.032,+0.150) r=0.03m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.643,+0.032,+0.150) r=0.03m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.640,+0.031,+0.150) r=0.03m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.637,+0.031,+0.150) r=0.03m +[headless_play] t= 4.40s step= 220 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.633,+0.030,+0.150) r=0.03m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.630,+0.030,+0.150) r=0.03m +[headless_play] t= 4.60s step= 230 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.627,+0.029,+0.150) r=0.03m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.623,+0.029,+0.150) r=0.03m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.620,+0.028,+0.150) r=0.03m +[headless_play] t= 4.90s step= 245 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.617,+0.028,+0.150) r=0.03m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.613,+0.027,+0.150) r=0.03m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.610,+0.027,+0.150) r=0.03m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.607,+0.026,+0.150) r=0.03m +[headless_play] t= 5.30s step= 265 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.603,+0.026,+0.150) r=0.03m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.600,+0.025,+0.150) r=0.03m +[headless_play] t= 5.50s step= 275 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.597,+0.025,+0.150) r=0.03m +[headless_play] t= 5.60s step= 280 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.593,+0.024,+0.150) r=0.03m +[headless_play] t= 5.70s step= 285 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.590,+0.024,+0.150) r=0.03m +[headless_play] t= 5.80s step= 290 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.587,+0.023,+0.150) r=0.03m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.583,+0.023,+0.150) r=0.03m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.0mm grav_b=(+0.04,+0.06,-1.00) ball=(+0.211,-0.054,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.5mm grav_b=(+0.07,+0.09,-0.99) ball=(+0.211,-0.054,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..61a2ace38a869937784971d894ba4393863b8f72 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t4.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.1mm grav_b=(+0.03,+0.05,-1.00) root_w=(-0.000,+0.000,+0.115) ball=(+0.203,-0.036,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 115.4mm grav_b=(+0.02,+0.05,-1.00) ball=(+0.203,-0.036,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.8mm grav_b=(+0.06,+0.09,-0.99) ball=(+0.204,-0.037,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(+0.09,+0.05,-0.99) ball=(+0.250,-0.051,+0.166) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 111.2mm grav_b=(+0.05,+0.05,-1.00) ball=(+0.302,-0.064,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 115.3mm grav_b=(+0.08,+0.03,-1.00) ball=(+0.351,-0.079,+0.150) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 116.5mm grav_b=(+0.08,+0.02,-1.00) ball=(+0.399,-0.094,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 118.7mm grav_b=(+0.07,+0.01,-1.00) ball=(+0.448,-0.109,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 111.4mm grav_b=(+0.05,-0.03,-1.00) ball=(+0.497,-0.124,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 109.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.545,-0.139,+0.150) r=0.09m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.03,-0.02,-1.00) ball=(+0.594,-0.154,+0.150) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.643,-0.170,+0.150) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.691,-0.185,+0.150) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.740,-0.200,+0.150) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.789,-0.215,+0.150) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.837,-0.230,+0.150) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.886,-0.245,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.935,-0.260,+0.150) r=0.09m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.984,-0.275,+0.150) r=0.09m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.032,-0.290,+0.150) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.081,-0.305,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.130,-0.320,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.178,-0.335,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.227,-0.350,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.276,-0.365,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.303,-0.365,+0.149) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.312,-0.349,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.321,-0.332,+0.150) r=0.09m +[headless_play] t= 2.70s step= 135 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.330,-0.316,+0.150) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.339,-0.299,+0.150) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.347,-0.283,+0.150) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.356,-0.266,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.365,-0.250,+0.150) r=0.09m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.374,-0.233,+0.150) r=0.09m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.383,-0.217,+0.150) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.392,-0.200,+0.150) r=0.09m +[headless_play] t= 3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.401,-0.184,+0.150) r=0.09m +[headless_play] t= 3.60s step= 180 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.410,-0.167,+0.150) r=0.09m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.418,-0.151,+0.150) r=0.09m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.427,-0.134,+0.150) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.436,-0.118,+0.150) r=0.09m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.445,-0.101,+0.150) r=0.09m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.454,-0.085,+0.150) r=0.09m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.463,-0.068,+0.150) r=0.09m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.472,-0.052,+0.150) r=0.09m +[headless_play] t= 4.40s step= 220 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.481,-0.035,+0.150) r=0.09m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.489,-0.019,+0.150) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.498,-0.002,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.507,+0.014,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.516,+0.031,+0.150) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.525,+0.047,+0.150) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.534,+0.064,+0.150) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.543,+0.080,+0.150) r=0.09m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.552,+0.097,+0.150) r=0.09m +[headless_play] t= 5.30s step= 265 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.560,+0.113,+0.150) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.569,+0.130,+0.150) r=0.09m +[headless_play] t= 5.50s step= 275 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.578,+0.146,+0.150) r=0.09m +[headless_play] t= 5.60s step= 280 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.587,+0.163,+0.150) r=0.09m +[headless_play] t= 5.70s step= 285 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.596,+0.179,+0.150) r=0.09m +[headless_play] t= 5.80s step= 290 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.605,+0.196,+0.150) r=0.09m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.614,+0.212,+0.150) r=0.09m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.6mm grav_b=(-0.09,+0.03,-1.00) ball=(+0.199,-0.044,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.8mm grav_b=(-0.05,+0.05,-1.00) ball=(+0.199,-0.044,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..d36709432eb5d1aaf97dc61245c061fc8b0525d3 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t5.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.6mm grav_b=(-0.05,-0.05,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.220,-0.040,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.3mm grav_b=(-0.05,-0.04,-1.00) ball=(+0.220,-0.040,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.4mm grav_b=(-0.06,-0.00,-1.00) ball=(+0.220,-0.040,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 113.9mm grav_b=(+0.01,-0.04,-1.00) ball=(+0.252,-0.043,+0.156) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 111.3mm grav_b=(-0.09,+0.04,-1.00) ball=(+0.290,-0.044,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 113.5mm grav_b=(-0.07,+0.02,-1.00) ball=(+0.328,-0.043,+0.150) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 113.3mm grav_b=(-0.02,+0.01,-1.00) ball=(+0.366,-0.043,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.403,-0.042,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 113.4mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.441,-0.042,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.479,-0.042,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.517,-0.041,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(-0.04,-0.00,-1.00) ball=(+0.555,-0.041,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 113.7mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.592,-0.040,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.630,-0.040,+0.150) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.668,-0.039,+0.150) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.706,-0.039,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 113.9mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.744,-0.038,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.781,-0.038,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 114.0mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.819,-0.037,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 114.1mm grav_b=(-0.04,-0.01,-1.00) ball=(+0.857,-0.037,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.895,-0.037,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(-0.03,-0.01,-1.00) ball=(+0.932,-0.036,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(-0.04,-0.01,-1.00) ball=(+0.970,-0.036,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.008,-0.035,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.046,-0.035,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.084,-0.034,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.121,-0.034,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.159,-0.033,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.197,-0.033,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.235,-0.032,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.273,-0.032,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.310,-0.032,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.348,-0.031,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.386,-0.031,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.424,-0.030,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.461,-0.030,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.499,-0.029,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.537,-0.029,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(-0.04,-0.01,-1.00) ball=(+1.575,-0.028,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(-0.04,-0.01,-1.00) ball=(+1.613,-0.028,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.650,-0.027,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.654,-0.029,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.651,-0.031,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.648,-0.032,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(-0.04,-0.01,-1.00) ball=(+1.645,-0.034,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.642,-0.036,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.639,-0.038,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.636,-0.039,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.633,-0.041,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.630,-0.043,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.627,-0.045,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.624,-0.047,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.622,-0.048,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.619,-0.050,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.616,-0.052,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.613,-0.054,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.610,-0.055,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.607,-0.057,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.604,-0.059,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.601,-0.061,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 114.5mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.598,-0.062,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.0mm grav_b=(-0.04,+0.01,-1.00) ball=(+0.198,-0.052,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(-0.01,+0.04,-1.00) ball=(+0.198,-0.052,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..9f329f85d8ea981b9acde5f67b56d97c1c1a66f6 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t6.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.0mm grav_b=(+0.01,-0.03,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.196,-0.054,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 117.2mm grav_b=(-0.00,-0.03,-1.00) ball=(+0.196,-0.054,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 121.6mm grav_b=(-0.03,+0.02,-1.00) ball=(+0.196,-0.055,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 113.6mm grav_b=(+0.11,+0.00,-0.99) ball=(+0.229,-0.059,+0.162) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 115.1mm grav_b=(+0.02,+0.07,-1.00) ball=(+0.267,-0.062,+0.149) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 117.9mm grav_b=(+0.01,+0.10,-0.99) ball=(+0.306,-0.064,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 119.7mm grav_b=(-0.03,+0.08,-1.00) ball=(+0.344,-0.065,+0.150) r=0.07m +[headless_play] t= 0.60s step= 30 trunk_z= 110.7mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.382,-0.066,+0.150) r=0.09m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(-0.04,+0.02,-1.00) ball=(+0.421,-0.068,+0.150) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(-0.01,+0.03,-1.00) ball=(+0.459,-0.069,+0.150) r=0.09m +[headless_play] t= 0.90s step= 45 trunk_z= 113.6mm grav_b=(+0.00,+0.03,-1.00) ball=(+0.498,-0.070,+0.150) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 113.6mm grav_b=(+0.00,+0.03,-1.00) ball=(+0.536,-0.072,+0.150) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.574,-0.073,+0.150) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.613,-0.075,+0.150) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.651,-0.076,+0.150) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.689,-0.077,+0.150) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.728,-0.079,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 113.9mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.766,-0.080,+0.150) r=0.09m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.804,-0.081,+0.150) r=0.09m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.843,-0.083,+0.150) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 114.0mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.881,-0.084,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.919,-0.086,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.958,-0.087,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.996,-0.088,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.034,-0.090,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.073,-0.091,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.111,-0.093,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.149,-0.094,+0.150) r=0.09m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.188,-0.095,+0.150) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.226,-0.097,+0.150) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.265,-0.098,+0.150) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.303,-0.099,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.341,-0.101,+0.150) r=0.09m +[headless_play] t= 3.20s step= 160 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.380,-0.102,+0.150) r=0.09m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.418,-0.104,+0.150) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.456,-0.105,+0.150) r=0.09m +[headless_play] t= 3.50s step= 175 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.495,-0.106,+0.150) r=0.09m +[headless_play] t= 3.60s step= 180 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.533,-0.108,+0.150) r=0.09m +[headless_play] t= 3.70s step= 185 trunk_z= 114.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.571,-0.109,+0.150) r=0.09m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.610,-0.111,+0.150) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.648,-0.112,+0.150) r=0.09m +[headless_play] t= 4.00s step= 200 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.654,-0.115,+0.150) r=0.09m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.651,-0.118,+0.150) r=0.09m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.648,-0.121,+0.150) r=0.09m +[headless_play] t= 4.30s step= 215 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.645,-0.124,+0.150) r=0.09m +[headless_play] t= 4.40s step= 220 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.642,-0.127,+0.150) r=0.09m +[headless_play] t= 4.50s step= 225 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.640,-0.130,+0.150) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.637,-0.133,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.634,-0.136,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.631,-0.139,+0.150) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.628,-0.142,+0.150) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.626,-0.145,+0.150) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.623,-0.148,+0.150) r=0.09m +[headless_play] t= 5.20s step= 260 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.620,-0.151,+0.150) r=0.09m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.617,-0.154,+0.150) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.614,-0.157,+0.150) r=0.09m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.611,-0.160,+0.150) r=0.09m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.609,-0.163,+0.150) r=0.09m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.606,-0.166,+0.150) r=0.09m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.603,-0.169,+0.150) r=0.09m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.600,-0.172,+0.150) r=0.09m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.03,+0.07,-1.00) ball=(+0.206,-0.048,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(+0.04,+0.07,-1.00) ball=(+0.208,-0.049,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..937d808d3f279017e5ad421f07adc96969c45e47 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t7.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.9mm grav_b=(-0.04,-0.02,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.203,-0.041,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.4mm grav_b=(-0.05,-0.01,-1.00) ball=(+0.203,-0.041,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.6mm grav_b=(-0.03,+0.08,-1.00) ball=(+0.203,-0.041,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 116.0mm grav_b=(+0.14,+0.06,-0.99) ball=(+0.245,-0.046,+0.161) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 121.1mm grav_b=(-0.03,+0.15,-0.99) ball=(+0.287,-0.047,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 123.5mm grav_b=(+0.02,+0.07,-1.00) ball=(+0.327,-0.046,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 111.3mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.368,-0.045,+0.150) r=0.09m +[headless_play] t= 0.60s step= 30 trunk_z= 112.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.408,-0.044,+0.150) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.449,-0.042,+0.150) r=0.10m +[headless_play] t= 0.80s step= 40 trunk_z= 114.1mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.489,-0.041,+0.150) r=0.10m +[headless_play] t= 0.90s step= 45 trunk_z= 114.2mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.530,-0.040,+0.150) r=0.10m +[headless_play] t= 1.00s step= 50 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.571,-0.039,+0.150) r=0.10m +[headless_play] t= 1.10s step= 55 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.611,-0.038,+0.150) r=0.10m +[headless_play] t= 1.20s step= 60 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.652,-0.037,+0.150) r=0.10m +[headless_play] t= 1.30s step= 65 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.692,-0.036,+0.150) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.733,-0.035,+0.150) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.773,-0.034,+0.150) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.814,-0.032,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.854,-0.031,+0.150) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.895,-0.030,+0.150) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.935,-0.029,+0.150) r=0.10m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.976,-0.028,+0.150) r=0.10m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.017,-0.027,+0.150) r=0.10m +[headless_play] t= 2.20s step= 110 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.057,-0.026,+0.150) r=0.10m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.098,-0.025,+0.150) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.138,-0.023,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.179,-0.022,+0.150) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.219,-0.021,+0.150) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.260,-0.020,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.300,-0.019,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.341,-0.018,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.381,-0.017,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.422,-0.016,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.462,-0.015,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.503,-0.013,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.544,-0.012,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.584,-0.011,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.625,-0.010,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.655,-0.010,+0.150) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.654,-0.012,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.650,-0.014,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.647,-0.016,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.643,-0.018,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.640,-0.021,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.637,-0.023,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.633,-0.025,+0.150) r=0.10m +[headless_play] t= 4.50s step= 225 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.630,-0.027,+0.150) r=0.10m +[headless_play] t= 4.60s step= 230 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.627,-0.029,+0.150) r=0.10m +[headless_play] t= 4.70s step= 235 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.623,-0.032,+0.150) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.620,-0.034,+0.150) r=0.10m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.617,-0.036,+0.150) r=0.10m +[headless_play] t= 5.00s step= 250 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.613,-0.038,+0.150) r=0.10m +[headless_play] t= 5.10s step= 255 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.610,-0.040,+0.150) r=0.10m +[headless_play] t= 5.20s step= 260 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.607,-0.043,+0.150) r=0.10m +[headless_play] t= 5.30s step= 265 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.603,-0.045,+0.150) r=0.10m +[headless_play] t= 5.40s step= 270 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.600,-0.047,+0.150) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.597,-0.049,+0.150) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.593,-0.051,+0.150) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.590,-0.054,+0.150) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.587,-0.056,+0.150) r=0.10m +[headless_play] t= 5.90s step= 295 trunk_z= 114.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.584,-0.058,+0.150) r=0.10m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.0mm grav_b=(-0.01,-0.04,-1.00) ball=(+0.217,-0.034,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(-0.05,+0.02,-1.00) ball=(+0.217,-0.034,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..ede890b7917dead16cd83f9760f90cae86315aed --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t8.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 116.7mm grav_b=(-0.06,+0.02,-1.00) root_w=(-0.000,+0.000,+0.117) ball=(+0.210,-0.053,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.5mm grav_b=(-0.07,+0.02,-1.00) ball=(+0.210,-0.053,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.08,+0.07,-0.99) ball=(+0.210,-0.053,+0.150) r=0.00m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.248,-0.058,+0.160) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 115.0mm grav_b=(-0.03,+0.09,-1.00) ball=(+0.289,-0.061,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 114.5mm grav_b=(-0.00,+0.06,-1.00) ball=(+0.330,-0.062,+0.150) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 113.7mm grav_b=(+0.02,+0.03,-1.00) ball=(+0.372,-0.063,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.414,-0.064,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.455,-0.066,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(-0.00,+0.02,-1.00) ball=(+0.497,-0.067,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.539,-0.068,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.581,-0.069,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.622,-0.070,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 113.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.664,-0.072,+0.150) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.706,-0.073,+0.150) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.747,-0.074,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.789,-0.075,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.831,-0.076,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.873,-0.078,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.914,-0.079,+0.150) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.956,-0.080,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.998,-0.081,+0.150) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.040,-0.082,+0.150) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.081,-0.084,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.123,-0.085,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.165,-0.086,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.206,-0.087,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.248,-0.088,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.290,-0.090,+0.150) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.332,-0.091,+0.150) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.373,-0.092,+0.150) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.415,-0.093,+0.150) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 113.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.457,-0.094,+0.150) r=0.05m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.498,-0.095,+0.150) r=0.05m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.540,-0.097,+0.150) r=0.05m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.582,-0.098,+0.150) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.624,-0.099,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.655,-0.101,+0.150) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.654,-0.104,+0.150) r=0.05m +[headless_play] t= 3.80s step= 190 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.650,-0.107,+0.150) r=0.05m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.647,-0.110,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.643,-0.113,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.640,-0.116,+0.150) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.637,-0.119,+0.150) r=0.05m +[headless_play] t= 4.30s step= 215 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.634,-0.122,+0.150) r=0.05m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.630,-0.125,+0.150) r=0.05m +[headless_play] t= 4.50s step= 225 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.627,-0.128,+0.150) r=0.05m +[headless_play] t= 4.60s step= 230 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.624,-0.131,+0.150) r=0.05m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.620,-0.134,+0.150) r=0.05m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.617,-0.137,+0.150) r=0.05m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.614,-0.140,+0.150) r=0.05m +[headless_play] t= 5.00s step= 250 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.610,-0.143,+0.150) r=0.05m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.607,-0.146,+0.150) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.604,-0.149,+0.150) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.600,-0.152,+0.150) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.597,-0.155,+0.150) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.594,-0.158,+0.150) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.591,-0.161,+0.150) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.587,-0.164,+0.150) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.584,-0.167,+0.150) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.581,-0.170,+0.150) r=0.05m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.1mm grav_b=(+0.06,-0.03,-1.00) ball=(+0.206,-0.040,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.6mm grav_b=(+0.02,+0.05,-1.00) ball=(+0.213,-0.041,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..02c5c63cad4a072094b6c9d981c088269ee2bf0b --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-a-2026-10-24/bksa-t9.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.8mm grav_b=(+0.06,+0.09,-0.99) root_w=(-0.000,+0.000,+0.112) ball=(+0.199,-0.049,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.6mm grav_b=(+0.06,+0.09,-0.99) ball=(+0.200,-0.049,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.7mm grav_b=(-0.01,+0.04,-1.00) ball=(+0.208,-0.053,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 112.3mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.248,-0.055,+0.159) r=0.04m +[headless_play] t= 0.30s step= 15 trunk_z= 110.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.294,-0.057,+0.149) r=0.08m +[headless_play] t= 0.40s step= 20 trunk_z= 114.6mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.340,-0.059,+0.150) r=0.09m +[headless_play] t= 0.50s step= 25 trunk_z= 113.5mm grav_b=(-0.01,-0.00,-1.00) ball=(+0.386,-0.061,+0.150) r=0.09m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.432,-0.063,+0.150) r=0.09m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.478,-0.065,+0.150) r=0.09m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.524,-0.067,+0.150) r=0.09m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.570,-0.068,+0.150) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.616,-0.070,+0.150) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 113.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.662,-0.072,+0.150) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.708,-0.074,+0.150) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(-0.02,+0.01,-1.00) ball=(+0.754,-0.076,+0.150) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.800,-0.078,+0.150) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 113.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.846,-0.080,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.892,-0.082,+0.150) r=0.09m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.938,-0.084,+0.150) r=0.09m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.984,-0.086,+0.150) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.031,-0.087,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.077,-0.089,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 113.9mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.123,-0.091,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.169,-0.093,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.215,-0.095,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.261,-0.097,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.307,-0.099,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.353,-0.101,+0.150) r=0.09m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.399,-0.103,+0.150) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.445,-0.105,+0.150) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.491,-0.107,+0.150) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.537,-0.108,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.583,-0.110,+0.150) r=0.09m +[headless_play] t= 3.20s step= 160 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.629,-0.112,+0.150) r=0.09m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.657,-0.114,+0.150) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.654,-0.117,+0.150) r=0.09m +[headless_play] t= 3.50s step= 175 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.650,-0.120,+0.150) r=0.09m +[headless_play] t= 3.60s step= 180 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.646,-0.122,+0.150) r=0.09m +[headless_play] t= 3.70s step= 185 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.642,-0.125,+0.150) r=0.09m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.638,-0.127,+0.150) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.634,-0.130,+0.150) r=0.09m +[headless_play] t= 4.00s step= 200 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.631,-0.133,+0.150) r=0.09m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.627,-0.135,+0.150) r=0.09m +[headless_play] t= 4.20s step= 210 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.623,-0.138,+0.150) r=0.09m +[headless_play] t= 4.30s step= 215 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.619,-0.140,+0.150) r=0.09m +[headless_play] t= 4.40s step= 220 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.615,-0.143,+0.150) r=0.09m +[headless_play] t= 4.50s step= 225 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.611,-0.145,+0.150) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.607,-0.148,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.603,-0.151,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.600,-0.153,+0.150) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.596,-0.156,+0.150) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.592,-0.158,+0.150) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.588,-0.161,+0.150) r=0.09m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.584,-0.163,+0.150) r=0.09m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.580,-0.166,+0.150) r=0.09m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.576,-0.169,+0.150) r=0.09m +[headless_play] t= 5.50s step= 275 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.573,-0.171,+0.150) r=0.09m +[headless_play] t= 5.60s step= 280 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.569,-0.174,+0.150) r=0.09m +[headless_play] t= 5.70s step= 285 trunk_z= 114.3mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.565,-0.176,+0.150) r=0.09m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.561,-0.179,+0.150) r=0.09m +[headless_play] t= 5.90s step= 295 trunk_z= 114.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.557,-0.182,+0.150) r=0.09m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.6mm grav_b=(-0.00,-0.01,-1.00) ball=(+0.198,-0.040,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(-0.06,+0.01,-1.00) ball=(+0.203,-0.042,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..7a74c74f46ffa9967bf23d5ad8cfb9d9b208cb18 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t1.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.0mm grav_b=(+0.04,+0.06,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.216,-0.036,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.4mm grav_b=(+0.04,+0.05,-1.00) ball=(+0.216,-0.036,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.2mm grav_b=(+0.08,+0.11,-0.99) ball=(+0.216,-0.036,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 129.6mm grav_b=(-0.22,+0.25,-0.94) ball=(+0.248,-0.058,+0.158) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 128.1mm grav_b=(-0.12,+0.22,-0.97) ball=(+0.363,-0.114,+0.181) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 115.1mm grav_b=(+0.08,+0.03,-1.00) ball=(+0.475,-0.167,+0.148) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 118.4mm grav_b=(+0.08,+0.05,-1.00) ball=(+0.580,-0.212,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 112.7mm grav_b=(+0.03,-0.03,-1.00) ball=(+0.686,-0.257,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 115.9mm grav_b=(+0.02,-0.02,-1.00) ball=(+0.791,-0.303,+0.150) r=0.08m +[headless_play] t= 0.80s step= 40 trunk_z= 115.6mm grav_b=(+0.02,-0.02,-1.00) ball=(+0.897,-0.348,+0.150) r=0.08m +[headless_play] t= 0.90s step= 45 trunk_z= 117.1mm grav_b=(-0.01,-0.06,-1.00) ball=(+1.002,-0.394,+0.150) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00) ball=(+1.108,-0.439,+0.150) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.213,-0.484,+0.150) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 116.8mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.232,-0.525,+0.158) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.224,-0.566,+0.149) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 116.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.222,-0.607,+0.150) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(+0.05,-0.02,-1.00) ball=(+1.219,-0.649,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 120.0mm grav_b=(+0.08,-0.01,-1.00) ball=(+1.216,-0.690,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 118.0mm grav_b=(+0.03,+0.03,-1.00) ball=(+1.214,-0.732,+0.150) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 112.3mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.211,-0.773,+0.150) r=0.14m +[headless_play] t= 1.90s step= 95 trunk_z= 113.2mm grav_b=(+0.03,-0.02,-1.00) ball=(+1.208,-0.815,+0.150) r=0.14m +[headless_play] t= 2.00s step= 100 trunk_z= 113.4mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.206,-0.856,+0.150) r=0.14m +[headless_play] t= 2.10s step= 105 trunk_z= 114.5mm grav_b=(+0.06,+0.03,-1.00) ball=(+1.203,-0.898,+0.150) r=0.15m +[headless_play] t= 2.20s step= 110 trunk_z= 118.7mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.200,-0.940,+0.150) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 115.7mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.198,-0.981,+0.150) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(+0.04,-0.05,-1.00) ball=(+1.195,-1.023,+0.150) r=0.18m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.01,-0.03,-1.00) ball=(+1.192,-1.064,+0.150) r=0.18m +[headless_play] t= 2.60s step= 130 trunk_z= 113.7mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.190,-1.106,+0.150) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.187,-1.147,+0.150) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.184,-1.189,+0.150) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 116.0mm grav_b=(+0.07,-0.03,-1.00) ball=(+1.182,-1.230,+0.150) r=0.20m +[headless_play] t= 3.00s step= 150 trunk_z= 120.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.179,-1.272,+0.150) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 112.3mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.176,-1.313,+0.150) r=0.23m +[headless_play] t= 3.20s step= 160 trunk_z= 111.2mm grav_b=(+0.02,-0.02,-1.00) ball=(+1.174,-1.355,+0.150) r=0.24m +[headless_play] t= 3.30s step= 165 trunk_z= 112.8mm grav_b=(+0.01,-0.03,-1.00) ball=(+1.171,-1.396,+0.150) r=0.24m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.168,-1.438,+0.150) r=0.24m +[headless_play] t= 3.50s step= 175 trunk_z= 113.5mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.166,-1.479,+0.150) r=0.25m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.163,-1.521,+0.150) r=0.25m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.160,-1.562,+0.150) r=0.25m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.158,-1.604,+0.150) r=0.25m +[headless_play] t= 3.90s step= 195 trunk_z= 113.8mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.155,-1.645,+0.150) r=0.25m +[headless_play] t= 4.00s step= 200 trunk_z= 113.8mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.152,-1.687,+0.150) r=0.25m +[headless_play] t= 4.10s step= 205 trunk_z= 113.8mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.150,-1.728,+0.150) r=0.25m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.147,-1.770,+0.150) r=0.25m +[headless_play] t= 4.30s step= 215 trunk_z= 117.6mm grav_b=(+0.07,-0.00,-1.00) ball=(+1.144,-1.811,+0.150) r=0.26m +[headless_play] t= 4.40s step= 220 trunk_z= 118.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.142,-1.853,+0.150) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 111.2mm grav_b=(+0.03,-0.04,-1.00) ball=(+1.139,-1.894,+0.150) r=0.29m +[headless_play] t= 4.60s step= 230 trunk_z= 112.7mm grav_b=(+0.01,-0.04,-1.00) ball=(+1.136,-1.936,+0.150) r=0.29m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.134,-1.978,+0.150) r=0.30m +[headless_play] t= 4.80s step= 240 trunk_z= 113.8mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.131,-2.019,+0.150) r=0.30m +[headless_play] t= 4.90s step= 245 trunk_z= 113.8mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.128,-2.061,+0.150) r=0.30m +[headless_play] t= 5.00s step= 250 trunk_z= 115.5mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.126,-2.102,+0.150) r=0.30m +[headless_play] t= 5.10s step= 255 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.123,-2.144,+0.150) r=0.30m +[headless_play] t= 5.20s step= 260 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.120,-2.185,+0.150) r=0.30m +[headless_play] t= 5.30s step= 265 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.117,-2.227,+0.150) r=0.30m +[headless_play] t= 5.40s step= 270 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.115,-2.268,+0.150) r=0.30m +[headless_play] t= 5.50s step= 275 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.112,-2.310,+0.150) r=0.30m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.109,-2.351,+0.150) r=0.30m +[headless_play] t= 5.70s step= 285 trunk_z= 115.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.107,-2.393,+0.150) r=0.30m +[headless_play] t= 5.80s step= 290 trunk_z= 115.4mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.104,-2.434,+0.150) r=0.30m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.101,-2.476,+0.150) r=0.30m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.0mm grav_b=(+0.06,-0.04,-1.00) ball=(+0.211,-0.057,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.1mm grav_b=(+0.06,+0.10,-0.99) ball=(+0.216,-0.056,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..843832e93eff5a2379b26b81ca323f505ec30c9f --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t10.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.0mm grav_b=(+0.06,+0.00,-1.00) root_w=(-0.000,+0.000,+0.113) ball=(+0.190,-0.038,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.7mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.192,-0.038,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.6mm grav_b=(-0.02,+0.11,-0.99) ball=(+0.198,-0.040,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 127.8mm grav_b=(-0.26,+0.24,-0.94) ball=(+0.231,-0.057,+0.162) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 125.7mm grav_b=(-0.31,+0.26,-0.91) ball=(+0.348,-0.112,+0.180) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 102.9mm grav_b=(+0.04,+0.10,-0.99) ball=(+0.460,-0.163,+0.148) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 110.2mm grav_b=(-0.01,+0.07,-1.00) ball=(+0.562,-0.208,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 111.7mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.664,-0.252,+0.150) r=0.07m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.767,-0.297,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.870,-0.341,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.972,-0.385,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 113.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.075,-0.430,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.177,-0.474,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.239,-0.518,+0.158) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.229,-0.562,+0.148) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.229,-0.607,+0.150) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.229,-0.652,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.229,-0.697,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.229,-0.741,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 114.0mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.229,-0.786,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.229,-0.831,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.229,-0.876,+0.150) r=0.06m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.229,-0.920,+0.150) r=0.06m +[headless_play] t= 2.20s step= 110 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.228,-0.965,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 113.5mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.228,-1.010,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 113.5mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.228,-1.055,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.228,-1.100,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.228,-1.144,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.228,-1.189,+0.150) r=0.05m +[headless_play] t= 2.80s step= 140 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.228,-1.234,+0.150) r=0.05m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.228,-1.279,+0.150) r=0.05m +[headless_play] t= 3.00s step= 150 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-1.323,+0.150) r=0.05m +[headless_play] t= 3.10s step= 155 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-1.368,+0.150) r=0.05m +[headless_play] t= 3.20s step= 160 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-1.413,+0.150) r=0.05m +[headless_play] t= 3.30s step= 165 trunk_z= 113.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-1.458,+0.150) r=0.05m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.228,-1.503,+0.150) r=0.05m +[headless_play] t= 3.50s step= 175 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.228,-1.547,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 113.8mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.228,-1.592,+0.150) r=0.05m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.227,-1.637,+0.150) r=0.05m +[headless_play] t= 3.80s step= 190 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.227,-1.682,+0.150) r=0.05m +[headless_play] t= 3.90s step= 195 trunk_z= 113.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.227,-1.727,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 113.8mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.227,-1.771,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.227,-1.816,+0.150) r=0.06m +[headless_play] t= 4.20s step= 210 trunk_z= 114.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.227,-1.861,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 114.9mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.227,-1.906,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.227,-1.950,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.227,-1.995,+0.150) r=0.06m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.227,-2.040,+0.150) r=0.06m +[headless_play] t= 4.70s step= 235 trunk_z= 114.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.227,-2.085,+0.150) r=0.06m +[headless_play] t= 4.80s step= 240 trunk_z= 116.0mm grav_b=(+0.03,-0.02,-1.00) ball=(+1.227,-2.130,+0.150) r=0.06m +[headless_play] t= 4.90s step= 245 trunk_z= 117.2mm grav_b=(+0.06,-0.02,-1.00) ball=(+1.227,-2.174,+0.150) r=0.06m +[headless_play] t= 5.00s step= 250 trunk_z= 117.8mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.227,-2.219,+0.150) r=0.06m +[headless_play] t= 5.10s step= 255 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.227,-2.264,+0.150) r=0.06m +[headless_play] t= 5.20s step= 260 trunk_z= 115.7mm grav_b=(-0.03,-0.00,-1.00) ball=(+1.226,-2.309,+0.150) r=0.06m +[headless_play] t= 5.30s step= 265 trunk_z= 116.0mm grav_b=(-0.04,+0.00,-1.00) ball=(+1.226,-2.353,+0.150) r=0.06m +[headless_play] t= 5.40s step= 270 trunk_z= 117.9mm grav_b=(-0.07,+0.00,-1.00) ball=(+1.226,-2.398,+0.150) r=0.07m +[headless_play] t= 5.50s step= 275 trunk_z= 110.2mm grav_b=(+0.06,-0.03,-1.00) ball=(+1.226,-2.443,+0.150) r=0.11m +[headless_play] t= 5.60s step= 280 trunk_z= 103.4mm grav_b=(+0.09,-0.00,-1.00) ball=(+1.226,-2.488,+0.150) r=0.14m +[headless_play] t= 5.70s step= 285 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.226,-2.533,+0.150) r=0.14m +[headless_play] t= 5.80s step= 290 trunk_z= 116.3mm grav_b=(+0.06,+0.00,-1.00) ball=(+1.226,-2.577,+0.150) r=0.14m +[headless_play] t= 5.90s step= 295 trunk_z= 110.8mm grav_b=(+0.00,-0.04,-1.00) ball=(+1.226,-2.622,+0.150) r=0.16m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.220,-0.049,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(+0.03,+0.09,-1.00) ball=(+0.220,-0.049,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..ac358c238912dcf7f9ed1a95dfe281c5b9b1b094 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t2.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.4mm grav_b=(-0.00,+0.08,-1.00) root_w=(-0.000,+0.000,+0.110) ball=(+0.198,-0.038,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.2mm grav_b=(-0.01,+0.08,-1.00) ball=(+0.199,-0.038,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(+0.04,+0.13,-0.99) ball=(+0.202,-0.039,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 129.7mm grav_b=(-0.21,+0.26,-0.94) ball=(+0.233,-0.060,+0.159) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 128.4mm grav_b=(-0.21,+0.34,-0.92) ball=(+0.347,-0.118,+0.178) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 117.7mm grav_b=(+0.03,+0.09,-1.00) ball=(+0.455,-0.171,+0.148) r=0.02m +[headless_play] t= 0.50s step= 25 trunk_z= 117.6mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.552,-0.218,+0.150) r=0.03m +[headless_play] t= 0.60s step= 30 trunk_z= 115.4mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.649,-0.264,+0.150) r=0.03m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.06,+0.03,-1.00) ball=(+0.746,-0.310,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 116.5mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.843,-0.356,+0.150) r=0.03m +[headless_play] t= 0.90s step= 45 trunk_z= 115.6mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.940,-0.402,+0.150) r=0.02m +[headless_play] t= 1.00s step= 50 trunk_z= 115.1mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.038,-0.449,+0.150) r=0.02m +[headless_play] t= 1.10s step= 55 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.135,-0.495,+0.150) r=0.02m +[headless_play] t= 1.20s step= 60 trunk_z= 114.5mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.232,-0.541,+0.150) r=0.02m +[headless_play] t= 1.30s step= 65 trunk_z= 114.4mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.258,-0.598,+0.148) r=0.02m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.279,-0.659,+0.150) r=0.02m +[headless_play] t= 1.50s step= 75 trunk_z= 115.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.300,-0.720,+0.150) r=0.02m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.321,-0.781,+0.150) r=0.02m +[headless_play] t= 1.70s step= 85 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.343,-0.842,+0.150) r=0.02m +[headless_play] t= 1.80s step= 90 trunk_z= 114.8mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.364,-0.903,+0.150) r=0.02m +[headless_play] t= 1.90s step= 95 trunk_z= 114.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.385,-0.964,+0.150) r=0.02m +[headless_play] t= 2.00s step= 100 trunk_z= 115.2mm grav_b=(-0.05,-0.01,-1.00) ball=(+1.407,-1.025,+0.150) r=0.02m +[headless_play] t= 2.10s step= 105 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.428,-1.087,+0.150) r=0.02m +[headless_play] t= 2.20s step= 110 trunk_z= 112.8mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.449,-1.148,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 112.3mm grav_b=(+0.03,-0.04,-1.00) ball=(+1.471,-1.209,+0.150) r=0.06m +[headless_play] t= 2.40s step= 120 trunk_z= 113.5mm grav_b=(+0.04,-0.02,-1.00) ball=(+1.492,-1.270,+0.150) r=0.06m +[headless_play] t= 2.50s step= 125 trunk_z= 113.9mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.513,-1.331,+0.150) r=0.06m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.534,-1.392,+0.150) r=0.05m +[headless_play] t= 2.70s step= 135 trunk_z= 115.9mm grav_b=(+0.12,-0.02,-0.99) ball=(+1.556,-1.453,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 121.3mm grav_b=(+0.11,-0.02,-0.99) ball=(+1.577,-1.514,+0.150) r=0.06m +[headless_play] t= 2.90s step= 145 trunk_z= 109.1mm grav_b=(+0.06,-0.04,-1.00) ball=(+1.598,-1.576,+0.150) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 112.0mm grav_b=(+0.01,-0.03,-1.00) ball=(+1.620,-1.637,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 112.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.641,-1.698,+0.150) r=0.09m +[headless_play] t= 3.20s step= 160 trunk_z= 112.9mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.662,-1.759,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(-0.08,-0.04,-1.00) ball=(+1.684,-1.820,+0.150) r=0.08m +[headless_play] t= 3.40s step= 170 trunk_z= 115.5mm grav_b=(-0.05,-0.01,-1.00) ball=(+1.705,-1.881,+0.150) r=0.07m +[headless_play] t= 3.50s step= 175 trunk_z= 107.6mm grav_b=(+0.02,-0.03,-1.00) ball=(+1.726,-1.942,+0.150) r=0.05m +[headless_play] t= 3.60s step= 180 trunk_z= 112.3mm grav_b=(+0.04,-0.03,-1.00) ball=(+1.747,-2.003,+0.150) r=0.06m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.06,-0.02,-1.00) ball=(+1.769,-2.065,+0.150) r=0.06m +[headless_play] t= 3.80s step= 190 trunk_z= 114.2mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.790,-2.126,+0.150) r=0.06m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.811,-2.187,+0.150) r=0.05m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.833,-2.248,+0.150) r=0.05m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.854,-2.309,+0.150) r=0.05m +[headless_play] t= 4.20s step= 210 trunk_z= 114.9mm grav_b=(-0.05,-0.02,-1.00) ball=(+1.875,-2.370,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.896,-2.431,+0.150) r=0.03m +[headless_play] t= 4.40s step= 220 trunk_z= 115.7mm grav_b=(+0.03,+0.03,-1.00) ball=(+1.918,-2.492,+0.150) r=0.03m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.939,-2.554,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 114.3mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.960,-2.615,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.982,-2.676,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.003,-2.737,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.024,-2.798,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(-0.01,-0.04,-1.00) ball=(+2.046,-2.859,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 117.1mm grav_b=(-0.03,-0.03,-1.00) ball=(+2.067,-2.920,+0.150) r=0.05m +[headless_play] t= 5.20s step= 260 trunk_z= 117.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.088,-2.981,+0.150) r=0.05m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(+0.01,-0.02,-1.00) ball=(+2.109,-3.043,+0.150) r=0.05m +[headless_play] t= 5.40s step= 270 trunk_z= 114.1mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.131,-3.104,+0.150) r=0.05m +[headless_play] t= 5.50s step= 275 trunk_z= 114.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.152,-3.165,+0.150) r=0.05m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.173,-3.226,+0.150) r=0.05m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.195,-3.287,+0.150) r=0.05m +[headless_play] t= 5.80s step= 290 trunk_z= 114.3mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.216,-3.348,+0.150) r=0.05m +[headless_play] t= 5.90s step= 295 trunk_z= 115.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.237,-3.409,+0.150) r=0.05m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(-0.04,+0.05,-1.00) ball=(+0.214,-0.055,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(+0.02,+0.13,-0.99) ball=(+0.214,-0.055,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..52294e28d122ad31c452506b5ddb0efa894053f5 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t3.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.0mm grav_b=(-0.08,+0.04,-1.00) root_w=(-0.000,+0.000,+0.110) ball=(+0.200,-0.050,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.0mm grav_b=(-0.08,+0.04,-1.00) ball=(+0.200,-0.050,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.8mm grav_b=(-0.01,+0.14,-0.99) ball=(+0.200,-0.050,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 129.3mm grav_b=(-0.28,+0.26,-0.93) ball=(+0.255,-0.080,+0.167) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 128.4mm grav_b=(-0.21,+0.22,-0.95) ball=(+0.380,-0.143,+0.171) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 111.6mm grav_b=(-0.01,-0.01,-1.00) ball=(+0.495,-0.208,+0.149) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 114.8mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.605,-0.273,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 117.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.714,-0.338,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 113.0mm grav_b=(-0.02,-0.04,-1.00) ball=(+0.823,-0.404,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 114.4mm grav_b=(-0.03,-0.05,-1.00) ball=(+0.933,-0.469,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(-0.02,-0.03,-1.00) ball=(+1.042,-0.534,+0.150) r=0.08m +[headless_play] t= 1.00s step= 50 trunk_z= 114.9mm grav_b=(-0.09,-0.01,-1.00) ball=(+1.151,-0.599,+0.150) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.260,-0.665,+0.150) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(-0.06,-0.02,-1.00) ball=(+1.370,-0.730,+0.150) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.479,-0.795,+0.150) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 115.8mm grav_b=(+0.03,-0.02,-1.00) ball=(+1.588,-0.860,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 118.3mm grav_b=(+0.03,-0.04,-1.00) ball=(+1.698,-0.925,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 110.4mm grav_b=(-0.02,-0.05,-1.00) ball=(+1.807,-0.991,+0.150) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(-0.02,-0.09,-1.00) ball=(+1.916,-1.056,+0.150) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 113.9mm grav_b=(-0.05,-0.05,-1.00) ball=(+2.026,-1.121,+0.150) r=0.12m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(+0.00,-0.02,-1.00) ball=(+2.135,-1.186,+0.150) r=0.12m +[headless_play] t= 2.00s step= 100 trunk_z= 115.4mm grav_b=(+0.01,-0.02,-1.00) ball=(+2.244,-1.252,+0.150) r=0.12m +[headless_play] t= 2.10s step= 105 trunk_z= 115.4mm grav_b=(+0.02,-0.03,-1.00) ball=(+2.354,-1.317,+0.150) r=0.13m +[headless_play] t= 2.20s step= 110 trunk_z= 114.8mm grav_b=(+0.00,-0.03,-1.00) ball=(+2.463,-1.382,+0.150) r=0.13m +[headless_play] t= 2.30s step= 115 trunk_z= 114.9mm grav_b=(+0.02,-0.02,-1.00) ball=(+2.572,-1.447,+0.150) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 118.1mm grav_b=(+0.08,-0.03,-1.00) ball=(+2.681,-1.512,+0.150) r=0.14m +[headless_play] t= 2.50s step= 125 trunk_z= 117.0mm grav_b=(-0.05,-0.04,-1.00) ball=(+2.791,-1.578,+0.150) r=0.17m +[headless_play] t= 2.60s step= 130 trunk_z= 108.9mm grav_b=(-0.09,-0.06,-0.99) ball=(+2.900,-1.643,+0.150) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 113.1mm grav_b=(-0.02,-0.00,-1.00) ball=(+3.009,-1.708,+0.150) r=0.20m +[headless_play] t= 2.80s step= 140 trunk_z= 112.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.119,-1.773,+0.150) r=0.20m +[headless_play] t= 2.90s step= 145 trunk_z= 113.2mm grav_b=(+0.00,-0.02,-1.00) ball=(+3.228,-1.839,+0.150) r=0.21m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(+0.03,-0.02,-1.00) ball=(+3.337,-1.904,+0.150) r=0.21m +[headless_play] t= 3.10s step= 155 trunk_z= 115.0mm grav_b=(+0.03,-0.02,-1.00) ball=(+3.447,-1.969,+0.150) r=0.21m +[headless_play] t= 3.20s step= 160 trunk_z= 114.2mm grav_b=(+0.01,-0.03,-1.00) ball=(+3.556,-2.034,+0.150) r=0.21m +[headless_play] t= 3.30s step= 165 trunk_z= 115.9mm grav_b=(-0.10,-0.04,-0.99) ball=(+3.665,-2.099,+0.150) r=0.20m +[headless_play] t= 3.40s step= 170 trunk_z= 118.2mm grav_b=(-0.06,+0.00,-1.00) ball=(+3.775,-2.165,+0.150) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 111.1mm grav_b=(-0.00,-0.01,-1.00) ball=(+3.884,-2.230,+0.150) r=0.17m +[headless_play] t= 3.60s step= 180 trunk_z= 115.1mm grav_b=(+0.03,-0.02,-1.00) ball=(+3.993,-2.295,+0.150) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 117.2mm grav_b=(+0.04,-0.04,-1.00) ball=(+4.102,-2.360,+0.150) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 119.1mm grav_b=(+0.04,-0.02,-1.00) ball=(+4.212,-2.426,+0.150) r=0.19m +[headless_play] t= 3.90s step= 195 trunk_z= 117.2mm grav_b=(-0.02,-0.00,-1.00) ball=(+4.321,-2.491,+0.150) r=0.19m +[headless_play] t= 4.00s step= 200 trunk_z= 114.9mm grav_b=(-0.01,-0.03,-1.00) ball=(+4.430,-2.556,+0.150) r=0.19m +[headless_play] t= 4.10s step= 205 trunk_z= 114.7mm grav_b=(-0.02,-0.03,-1.00) ball=(+4.540,-2.621,+0.150) r=0.19m +[headless_play] t= 4.20s step= 210 trunk_z= 114.6mm grav_b=(-0.00,-0.03,-1.00) ball=(+4.649,-2.686,+0.150) r=0.20m +[headless_play] t= 4.30s step= 215 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) ball=(+4.758,-2.752,+0.150) r=0.20m +[headless_play] t= 4.40s step= 220 trunk_z= 114.7mm grav_b=(+0.01,-0.03,-1.00) ball=(+4.868,-2.817,+0.150) r=0.20m +[headless_play] t= 4.50s step= 225 trunk_z= 114.6mm grav_b=(+0.00,-0.03,-1.00) ball=(+4.977,-2.882,+0.150) r=0.20m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(-0.00,-0.03,-1.00) ball=(+5.086,-2.947,+0.150) r=0.20m +[headless_play] t= 4.70s step= 235 trunk_z= 115.3mm grav_b=(+0.01,-0.02,-1.00) ball=(+5.196,-3.013,+0.150) r=0.20m +[headless_play] t= 4.80s step= 240 trunk_z= 115.5mm grav_b=(+0.02,-0.03,-1.00) ball=(+5.305,-3.078,+0.150) r=0.20m +[headless_play] t= 4.90s step= 245 trunk_z= 115.1mm grav_b=(+0.01,-0.03,-1.00) ball=(+5.414,-3.143,+0.150) r=0.20m +[headless_play] t= 5.00s step= 250 trunk_z= 114.9mm grav_b=(+0.00,-0.02,-1.00) ball=(+5.524,-3.208,+0.150) r=0.20m +[headless_play] t= 5.10s step= 255 trunk_z= 114.9mm grav_b=(-0.00,-0.02,-1.00) ball=(+5.633,-3.273,+0.150) r=0.20m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(-0.00,-0.02,-1.00) ball=(+5.742,-3.339,+0.150) r=0.20m +[headless_play] t= 5.30s step= 265 trunk_z= 116.9mm grav_b=(-0.09,-0.01,-1.00) ball=(+5.851,-3.404,+0.150) r=0.19m +[headless_play] t= 5.40s step= 270 trunk_z= 118.3mm grav_b=(-0.07,-0.01,-1.00) ball=(+5.961,-3.469,+0.150) r=0.18m +[headless_play] t= 5.50s step= 275 trunk_z= 113.2mm grav_b=(-0.01,-0.00,-1.00) ball=(+6.070,-3.534,+0.150) r=0.16m +[headless_play] t= 5.60s step= 280 trunk_z= 111.7mm grav_b=(+0.05,-0.00,-1.00) ball=(+6.179,-3.600,+0.150) r=0.16m +[headless_play] t= 5.70s step= 285 trunk_z= 117.5mm grav_b=(+0.03,-0.03,-1.00) ball=(+6.289,-3.665,+0.150) r=0.16m +[headless_play] t= 5.80s step= 290 trunk_z= 119.2mm grav_b=(-0.01,-0.03,-1.00) ball=(+6.398,-3.730,+0.150) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 111.2mm grav_b=(-0.06,-0.05,-1.00) ball=(+6.507,-3.795,+0.150) r=0.19m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.0mm grav_b=(+0.04,-0.02,-1.00) ball=(+0.206,-0.043,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.5mm grav_b=(+0.05,+0.12,-0.99) ball=(+0.206,-0.043,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..e9a3dc7fe59e63fd98b69b70afdf7e2f28fc76a5 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t4.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 116.0mm grav_b=(-0.01,-0.07,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.217,-0.050,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.3mm grav_b=(-0.02,-0.06,-1.00) ball=(+0.217,-0.050,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(+0.01,+0.09,-1.00) ball=(+0.217,-0.050,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 127.0mm grav_b=(-0.25,+0.22,-0.94) ball=(+0.248,-0.067,+0.163) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 126.1mm grav_b=(-0.22,+0.27,-0.94) ball=(+0.364,-0.128,+0.183) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 111.5mm grav_b=(-0.04,+0.04,-1.00) ball=(+0.475,-0.187,+0.147) r=0.03m +[headless_play] t= 0.50s step= 25 trunk_z= 112.8mm grav_b=(-0.02,+0.02,-1.00) ball=(+0.577,-0.241,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 112.7mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.679,-0.295,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 112.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.781,-0.349,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 112.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.883,-0.403,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 114.8mm grav_b=(-0.03,-0.02,-1.00) ball=(+0.985,-0.457,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 116.8mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.087,-0.511,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 115.5mm grav_b=(+0.00,+0.03,-1.00) ball=(+1.189,-0.565,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 112.9mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.288,-0.619,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 113.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.349,-0.680,+0.150) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 113.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.412,-0.741,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.475,-0.802,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 114.9mm grav_b=(+0.02,+0.04,-1.00) ball=(+1.538,-0.863,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 114.5mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.601,-0.923,+0.150) r=0.05m +[headless_play] t= 1.80s step= 90 trunk_z= 114.4mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.664,-0.984,+0.150) r=0.05m +[headless_play] t= 1.90s step= 95 trunk_z= 114.5mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.727,-1.045,+0.150) r=0.05m +[headless_play] t= 2.00s step= 100 trunk_z= 114.4mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.789,-1.106,+0.150) r=0.05m +[headless_play] t= 2.10s step= 105 trunk_z= 114.4mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.852,-1.167,+0.150) r=0.05m +[headless_play] t= 2.20s step= 110 trunk_z= 114.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.915,-1.227,+0.150) r=0.05m +[headless_play] t= 2.30s step= 115 trunk_z= 114.5mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.978,-1.288,+0.150) r=0.05m +[headless_play] t= 2.40s step= 120 trunk_z= 114.5mm grav_b=(-0.01,+0.02,-1.00) ball=(+2.041,-1.349,+0.150) r=0.05m +[headless_play] t= 2.50s step= 125 trunk_z= 115.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.104,-1.410,+0.150) r=0.05m +[headless_play] t= 2.60s step= 130 trunk_z= 118.2mm grav_b=(+0.08,-0.02,-1.00) ball=(+2.166,-1.471,+0.150) r=0.06m +[headless_play] t= 2.70s step= 135 trunk_z= 120.7mm grav_b=(+0.07,+0.01,-1.00) ball=(+2.229,-1.531,+0.150) r=0.06m +[headless_play] t= 2.80s step= 140 trunk_z= 111.9mm grav_b=(+0.00,-0.03,-1.00) ball=(+2.292,-1.592,+0.150) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) ball=(+2.355,-1.653,+0.150) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.418,-1.714,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 114.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+2.481,-1.775,+0.150) r=0.09m +[headless_play] t= 3.20s step= 160 trunk_z= 113.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+2.544,-1.835,+0.150) r=0.09m +[headless_play] t= 3.30s step= 165 trunk_z= 113.9mm grav_b=(+0.03,+0.01,-1.00) ball=(+2.606,-1.896,+0.150) r=0.09m +[headless_play] t= 3.40s step= 170 trunk_z= 117.4mm grav_b=(+0.09,+0.01,-1.00) ball=(+2.669,-1.957,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 119.8mm grav_b=(+0.03,+0.00,-1.00) ball=(+2.732,-2.018,+0.150) r=0.11m +[headless_play] t= 3.60s step= 180 trunk_z= 109.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.795,-2.079,+0.150) r=0.14m +[headless_play] t= 3.70s step= 185 trunk_z= 111.8mm grav_b=(-0.01,-0.02,-1.00) ball=(+2.858,-2.139,+0.150) r=0.14m +[headless_play] t= 3.80s step= 190 trunk_z= 112.4mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.921,-2.200,+0.150) r=0.13m +[headless_play] t= 3.90s step= 195 trunk_z= 113.1mm grav_b=(-0.10,-0.01,-0.99) ball=(+2.983,-2.261,+0.150) r=0.13m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(-0.04,-0.03,-1.00) ball=(+3.046,-2.322,+0.150) r=0.12m +[headless_play] t= 4.10s step= 205 trunk_z= 104.4mm grav_b=(+0.03,-0.02,-1.00) ball=(+3.109,-2.383,+0.150) r=0.13m +[headless_play] t= 4.20s step= 210 trunk_z= 110.2mm grav_b=(+0.02,+0.03,-1.00) ball=(+3.172,-2.443,+0.150) r=0.14m +[headless_play] t= 4.30s step= 215 trunk_z= 111.4mm grav_b=(+0.03,-0.02,-1.00) ball=(+3.235,-2.504,+0.150) r=0.14m +[headless_play] t= 4.40s step= 220 trunk_z= 112.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.298,-2.565,+0.150) r=0.14m +[headless_play] t= 4.50s step= 225 trunk_z= 112.2mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.360,-2.626,+0.150) r=0.14m +[headless_play] t= 4.60s step= 230 trunk_z= 113.0mm grav_b=(+0.04,-0.02,-1.00) ball=(+3.423,-2.687,+0.150) r=0.14m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(+0.04,-0.02,-1.00) ball=(+3.486,-2.747,+0.150) r=0.14m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+3.549,-2.808,+0.150) r=0.14m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.612,-2.869,+0.150) r=0.14m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+3.675,-2.930,+0.150) r=0.14m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(-0.00,+0.00,-1.00) ball=(+3.738,-2.991,+0.150) r=0.14m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.800,-3.052,+0.150) r=0.14m +[headless_play] t= 5.30s step= 265 trunk_z= 113.6mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.863,-3.112,+0.150) r=0.14m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(+0.02,+0.01,-1.00) ball=(+3.926,-3.173,+0.150) r=0.13m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+3.989,-3.234,+0.150) r=0.13m +[headless_play] t= 5.60s step= 280 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(+4.052,-3.295,+0.150) r=0.13m +[headless_play] t= 5.70s step= 285 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+4.115,-3.356,+0.150) r=0.13m +[headless_play] t= 5.80s step= 290 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(+4.177,-3.416,+0.150) r=0.13m +[headless_play] t= 5.90s step= 295 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(+4.240,-3.477,+0.150) r=0.13m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(-0.01,+0.06,-1.00) ball=(+0.218,-0.032,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(-0.01,+0.15,-0.99) ball=(+0.218,-0.032,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..4a744e64d3755b990c0fd94288d8716c1ef35780 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t5.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.209,-0.043,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.1mm grav_b=(-0.00,-0.00,-1.00) ball=(+0.209,-0.043,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.3mm grav_b=(+0.04,+0.14,-0.99) ball=(+0.209,-0.043,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 128.6mm grav_b=(-0.24,+0.28,-0.93) ball=(+0.268,-0.072,+0.170) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 121.5mm grav_b=(-0.05,+0.14,-0.99) ball=(+0.392,-0.129,+0.172) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 113.5mm grav_b=(-0.04,+0.02,-1.00) ball=(+0.507,-0.183,+0.149) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 113.2mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.615,-0.235,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 114.4mm grav_b=(-0.06,+0.01,-1.00) ball=(+0.724,-0.287,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(-0.11,-0.00,-0.99) ball=(+0.832,-0.339,+0.150) r=0.03m +[headless_play] t= 0.80s step= 40 trunk_z= 111.4mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.940,-0.391,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 106.9mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.049,-0.443,+0.150) r=0.09m +[headless_play] t= 1.00s step= 50 trunk_z= 110.2mm grav_b=(-0.00,-0.03,-1.00) ball=(+1.157,-0.495,+0.150) r=0.09m +[headless_play] t= 1.10s step= 55 trunk_z= 111.4mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.249,-0.548,+0.154) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 111.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.253,-0.604,+0.149) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 112.1mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.268,-0.663,+0.150) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 112.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.283,-0.722,+0.150) r=0.09m +[headless_play] t= 1.50s step= 75 trunk_z= 113.3mm grav_b=(-0.00,-0.02,-1.00) ball=(+1.298,-0.781,+0.150) r=0.09m +[headless_play] t= 1.60s step= 80 trunk_z= 113.5mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.313,-0.840,+0.150) r=0.09m +[headless_play] t= 1.70s step= 85 trunk_z= 113.3mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.328,-0.900,+0.150) r=0.09m +[headless_play] t= 1.80s step= 90 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.343,-0.959,+0.150) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.359,-1.018,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.374,-1.077,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.389,-1.136,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.404,-1.195,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.419,-1.255,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.434,-1.314,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 114.3mm grav_b=(+0.04,+0.03,-1.00) ball=(+1.449,-1.373,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 114.7mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.465,-1.432,+0.150) r=0.09m +[headless_play] t= 2.70s step= 135 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.480,-1.491,+0.150) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.495,-1.551,+0.150) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.510,-1.610,+0.150) r=0.09m +[headless_play] t= 3.00s step= 150 trunk_z= 114.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.525,-1.669,+0.150) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 115.4mm grav_b=(-0.02,+0.03,-1.00) ball=(+1.540,-1.728,+0.150) r=0.08m +[headless_play] t= 3.20s step= 160 trunk_z= 115.3mm grav_b=(-0.02,+0.02,-1.00) ball=(+1.555,-1.787,+0.150) r=0.08m +[headless_play] t= 3.30s step= 165 trunk_z= 115.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.571,-1.847,+0.150) r=0.08m +[headless_play] t= 3.40s step= 170 trunk_z= 114.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.586,-1.906,+0.150) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 115.0mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.601,-1.965,+0.150) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 115.9mm grav_b=(-0.03,+0.04,-1.00) ball=(+1.616,-2.024,+0.150) r=0.08m +[headless_play] t= 3.70s step= 185 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00) ball=(+1.631,-2.083,+0.150) r=0.08m +[headless_play] t= 3.80s step= 190 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.646,-2.142,+0.150) r=0.08m +[headless_play] t= 3.90s step= 195 trunk_z= 115.3mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.661,-2.202,+0.150) r=0.08m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.677,-2.261,+0.150) r=0.08m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.692,-2.320,+0.150) r=0.08m +[headless_play] t= 4.20s step= 210 trunk_z= 115.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.707,-2.379,+0.150) r=0.08m +[headless_play] t= 4.30s step= 215 trunk_z= 115.1mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.722,-2.438,+0.150) r=0.08m +[headless_play] t= 4.40s step= 220 trunk_z= 117.1mm grav_b=(-0.03,-0.03,-1.00) ball=(+1.737,-2.498,+0.150) r=0.09m +[headless_play] t= 4.50s step= 225 trunk_z= 117.0mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.752,-2.557,+0.150) r=0.09m +[headless_play] t= 4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.02,+0.02,-1.00) ball=(+1.767,-2.616,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.783,-2.675,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.798,-2.734,+0.150) r=0.09m +[headless_play] t= 4.90s step= 245 trunk_z= 116.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.813,-2.793,+0.150) r=0.09m +[headless_play] t= 5.00s step= 250 trunk_z= 115.9mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.828,-2.853,+0.150) r=0.09m +[headless_play] t= 5.10s step= 255 trunk_z= 116.5mm grav_b=(-0.06,+0.01,-1.00) ball=(+1.843,-2.912,+0.150) r=0.09m +[headless_play] t= 5.20s step= 260 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00) ball=(+1.858,-2.971,+0.150) r=0.09m +[headless_play] t= 5.30s step= 265 trunk_z= 113.9mm grav_b=(-0.01,+0.04,-1.00) ball=(+1.873,-3.030,+0.150) r=0.11m +[headless_play] t= 5.40s step= 270 trunk_z= 110.8mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.889,-3.089,+0.150) r=0.13m +[headless_play] t= 5.50s step= 275 trunk_z= 111.3mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.904,-3.149,+0.150) r=0.13m +[headless_play] t= 5.60s step= 280 trunk_z= 111.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.919,-3.208,+0.150) r=0.13m +[headless_play] t= 5.70s step= 285 trunk_z= 112.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.934,-3.267,+0.150) r=0.13m +[headless_play] t= 5.80s step= 290 trunk_z= 112.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.949,-3.326,+0.150) r=0.13m +[headless_play] t= 5.90s step= 295 trunk_z= 112.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.964,-3.385,+0.150) r=0.12m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.3mm grav_b=(+0.03,-0.06,-1.00) ball=(+0.200,-0.050,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 124.7mm grav_b=(-0.04,+0.13,-0.99) ball=(+0.206,-0.050,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..40951cdba283a102f341566307452a3223c6290e --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t6.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.2mm grav_b=(+0.05,-0.07,-1.00) root_w=(-0.000,+0.000,+0.110) ball=(+0.195,-0.045,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 112.2mm grav_b=(+0.04,-0.07,-1.00) ball=(+0.197,-0.045,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 124.6mm grav_b=(-0.04,+0.11,-0.99) ball=(+0.207,-0.045,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 130.2mm grav_b=(-0.30,+0.22,-0.93) ball=(+0.254,-0.060,+0.173) r=0.00m +[headless_play] t= 0.30s step= 15 trunk_z= 125.1mm grav_b=(-0.10,+0.12,-0.99) ball=(+0.369,-0.109,+0.185) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(-0.06,+0.05,-1.00) ball=(+0.477,-0.152,+0.146) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(-0.12,+0.04,-0.99) ball=(+0.571,-0.182,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 113.9mm grav_b=(-0.06,-0.01,-1.00) ball=(+0.665,-0.211,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 115.1mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.759,-0.240,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 115.2mm grav_b=(-0.03,+0.00,-1.00) ball=(+0.853,-0.270,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 115.1mm grav_b=(-0.03,+0.00,-1.00) ball=(+0.947,-0.299,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 116.6mm grav_b=(-0.05,+0.03,-1.00) ball=(+1.041,-0.329,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 117.5mm grav_b=(-0.07,+0.02,-1.00) ball=(+1.135,-0.358,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 117.1mm grav_b=(-0.09,+0.00,-1.00) ball=(+1.229,-0.388,+0.150) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 117.1mm grav_b=(-0.07,-0.00,-1.00) ball=(+1.275,-0.393,+0.158) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 116.5mm grav_b=(-0.05,-0.00,-1.00) ball=(+1.277,-0.372,+0.149) r=0.05m +[headless_play] t= 1.50s step= 75 trunk_z= 116.3mm grav_b=(-0.03,+0.00,-1.00) ball=(+1.285,-0.353,+0.150) r=0.05m +[headless_play] t= 1.60s step= 80 trunk_z= 116.4mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.293,-0.333,+0.150) r=0.05m +[headless_play] t= 1.70s step= 85 trunk_z= 117.7mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.302,-0.314,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 120.8mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.310,-0.295,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 111.0mm grav_b=(-0.06,-0.03,-1.00) ball=(+1.318,-0.275,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 114.6mm grav_b=(-0.07,-0.03,-1.00) ball=(+1.327,-0.256,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 115.1mm grav_b=(-0.08,-0.01,-1.00) ball=(+1.335,-0.237,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 114.8mm grav_b=(-0.07,-0.01,-1.00) ball=(+1.343,-0.217,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 114.5mm grav_b=(-0.06,-0.00,-1.00) ball=(+1.352,-0.198,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 115.5mm grav_b=(+0.02,+0.03,-1.00) ball=(+1.360,-0.178,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 122.3mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.368,-0.159,+0.150) r=0.11m +[headless_play] t= 2.60s step= 130 trunk_z= 109.0mm grav_b=(-0.07,-0.02,-1.00) ball=(+1.376,-0.140,+0.150) r=0.15m +[headless_play] t= 2.70s step= 135 trunk_z= 113.3mm grav_b=(-0.09,-0.02,-1.00) ball=(+1.385,-0.120,+0.150) r=0.15m +[headless_play] t= 2.80s step= 140 trunk_z= 114.2mm grav_b=(-0.09,-0.00,-1.00) ball=(+1.393,-0.101,+0.150) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 114.4mm grav_b=(-0.09,-0.00,-1.00) ball=(+1.401,-0.082,+0.150) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(-0.09,-0.00,-1.00) ball=(+1.410,-0.062,+0.150) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(-0.08,+0.00,-1.00) ball=(+1.418,-0.043,+0.150) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.426,-0.023,+0.150) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 114.9mm grav_b=(-0.03,+0.03,-1.00) ball=(+1.435,-0.004,+0.150) r=0.16m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(-0.05,+0.02,-1.00) ball=(+1.443,+0.015,+0.150) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.451,+0.035,+0.150) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.460,+0.054,+0.150) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 115.4mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.468,+0.073,+0.150) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 115.3mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.476,+0.093,+0.150) r=0.16m +[headless_play] t= 3.90s step= 195 trunk_z= 115.2mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.485,+0.112,+0.150) r=0.16m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.493,+0.132,+0.150) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.501,+0.151,+0.150) r=0.17m +[headless_play] t= 4.20s step= 210 trunk_z= 115.2mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.510,+0.170,+0.150) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 116.6mm grav_b=(-0.07,-0.02,-1.00) ball=(+1.518,+0.190,+0.150) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 116.5mm grav_b=(-0.06,-0.01,-1.00) ball=(+1.526,+0.209,+0.150) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.534,+0.228,+0.150) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 116.4mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.543,+0.248,+0.150) r=0.17m +[headless_play] t= 4.70s step= 235 trunk_z= 116.4mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.551,+0.267,+0.150) r=0.17m +[headless_play] t= 4.80s step= 240 trunk_z= 118.3mm grav_b=(-0.00,-0.03,-1.00) ball=(+1.559,+0.287,+0.150) r=0.18m +[headless_play] t= 4.90s step= 245 trunk_z= 119.7mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.568,+0.306,+0.150) r=0.18m +[headless_play] t= 5.00s step= 250 trunk_z= 120.1mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.576,+0.325,+0.150) r=0.18m +[headless_play] t= 5.10s step= 255 trunk_z= 114.8mm grav_b=(-0.05,-0.03,-1.00) ball=(+1.584,+0.345,+0.150) r=0.19m +[headless_play] t= 5.20s step= 260 trunk_z= 116.2mm grav_b=(-0.06,-0.02,-1.00) ball=(+1.589,+0.351,+0.150) r=0.18m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.592,+0.349,+0.150) r=0.20m +[headless_play] t= 5.40s step= 270 trunk_z= 119.8mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.594,+0.348,+0.150) r=0.20m +[headless_play] t= 5.50s step= 275 trunk_z= 118.3mm grav_b=(-0.08,-0.00,-1.00) ball=(+1.597,+0.347,+0.150) r=0.22m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(-0.09,-0.04,-0.99) ball=(+1.599,+0.345,+0.150) r=0.24m +[headless_play] t= 5.70s step= 285 trunk_z= 114.6mm grav_b=(-0.11,-0.02,-0.99) ball=(+1.602,+0.344,+0.150) r=0.24m +[headless_play] t= 5.80s step= 290 trunk_z= 115.0mm grav_b=(-0.10,-0.01,-0.99) ball=(+1.605,+0.343,+0.150) r=0.24m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(-0.12,-0.02,-0.99) ball=(+1.607,+0.341,+0.150) r=0.23m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.2mm grav_b=(+0.01,-0.03,-1.00) ball=(+0.207,-0.043,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 124.6mm grav_b=(-0.08,+0.11,-0.99) ball=(+0.207,-0.043,+0.150) r=0.03m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..95b54e8295da29ced4374f105715e9a40e853d41 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t7.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.1mm grav_b=(+0.04,+0.03,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.200,-0.053,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.2mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.202,-0.054,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(+0.04,+0.13,-0.99) ball=(+0.210,-0.058,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 127.9mm grav_b=(-0.18,+0.24,-0.95) ball=(+0.244,-0.078,+0.159) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 125.7mm grav_b=(-0.16,+0.20,-0.97) ball=(+0.355,-0.129,+0.166) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(-0.05,-0.00,-1.00) ball=(+0.458,-0.179,+0.149) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.555,-0.228,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 114.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+0.653,-0.277,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.750,-0.327,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 114.4mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.848,-0.376,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 114.4mm grav_b=(-0.00,+0.00,-1.00) ball=(+0.945,-0.425,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 114.9mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.043,-0.475,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.140,-0.524,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.237,-0.573,+0.150) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.289,-0.630,+0.149) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 115.1mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.329,-0.693,+0.150) r=0.04m +[headless_play] t= 1.50s step= 75 trunk_z= 115.0mm grav_b=(-0.02,-0.00,-1.00) ball=(+1.370,-0.755,+0.150) r=0.04m +[headless_play] t= 1.60s step= 80 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.410,-0.817,+0.150) r=0.04m +[headless_play] t= 1.70s step= 85 trunk_z= 114.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.450,-0.880,+0.150) r=0.04m +[headless_play] t= 1.80s step= 90 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.490,-0.942,+0.150) r=0.04m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.531,-1.005,+0.150) r=0.04m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.571,-1.067,+0.150) r=0.04m +[headless_play] t= 2.10s step= 105 trunk_z= 115.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.611,-1.130,+0.150) r=0.04m +[headless_play] t= 2.20s step= 110 trunk_z= 115.0mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.652,-1.192,+0.150) r=0.04m +[headless_play] t= 2.30s step= 115 trunk_z= 115.1mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.692,-1.254,+0.150) r=0.04m +[headless_play] t= 2.40s step= 120 trunk_z= 115.1mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.732,-1.317,+0.150) r=0.04m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.772,-1.379,+0.150) r=0.04m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.00,-0.00,-1.00) ball=(+1.813,-1.442,+0.150) r=0.04m +[headless_play] t= 2.70s step= 135 trunk_z= 115.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.853,-1.504,+0.150) r=0.04m +[headless_play] t= 2.80s step= 140 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.893,-1.567,+0.150) r=0.04m +[headless_play] t= 2.90s step= 145 trunk_z= 115.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.933,-1.629,+0.150) r=0.04m +[headless_play] t= 3.00s step= 150 trunk_z= 115.4mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.974,-1.691,+0.150) r=0.04m +[headless_play] t= 3.10s step= 155 trunk_z= 115.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.014,-1.754,+0.150) r=0.04m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.054,-1.816,+0.150) r=0.04m +[headless_play] t= 3.30s step= 165 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00) ball=(+2.095,-1.879,+0.150) r=0.04m +[headless_play] t= 3.40s step= 170 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+2.135,-1.941,+0.150) r=0.04m +[headless_play] t= 3.50s step= 175 trunk_z= 117.4mm grav_b=(+0.03,+0.03,-1.00) ball=(+2.175,-2.004,+0.150) r=0.04m +[headless_play] t= 3.60s step= 180 trunk_z= 117.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+2.215,-2.066,+0.150) r=0.04m +[headless_play] t= 3.70s step= 185 trunk_z= 116.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+2.256,-2.128,+0.150) r=0.04m +[headless_play] t= 3.80s step= 190 trunk_z= 116.5mm grav_b=(-0.02,+0.01,-1.00) ball=(+2.296,-2.191,+0.150) r=0.04m +[headless_play] t= 3.90s step= 195 trunk_z= 116.3mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.336,-2.253,+0.150) r=0.04m +[headless_play] t= 4.00s step= 200 trunk_z= 116.3mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.377,-2.316,+0.150) r=0.04m +[headless_play] t= 4.10s step= 205 trunk_z= 116.1mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.417,-2.378,+0.150) r=0.04m +[headless_play] t= 4.20s step= 210 trunk_z= 116.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.457,-2.441,+0.150) r=0.04m +[headless_play] t= 4.30s step= 215 trunk_z= 116.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+2.497,-2.503,+0.150) r=0.04m +[headless_play] t= 4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.538,-2.565,+0.150) r=0.04m +[headless_play] t= 4.50s step= 225 trunk_z= 116.5mm grav_b=(-0.03,-0.00,-1.00) ball=(+2.578,-2.628,+0.150) r=0.04m +[headless_play] t= 4.60s step= 230 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00) ball=(+2.618,-2.690,+0.150) r=0.04m +[headless_play] t= 4.70s step= 235 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00) ball=(+2.659,-2.753,+0.150) r=0.04m +[headless_play] t= 4.80s step= 240 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00) ball=(+2.699,-2.815,+0.150) r=0.04m +[headless_play] t= 4.90s step= 245 trunk_z= 116.0mm grav_b=(+0.01,-0.00,-1.00) ball=(+2.739,-2.878,+0.150) r=0.04m +[headless_play] t= 5.00s step= 250 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.779,-2.940,+0.150) r=0.04m +[headless_play] t= 5.10s step= 255 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.820,-3.002,+0.150) r=0.04m +[headless_play] t= 5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.860,-3.065,+0.150) r=0.04m +[headless_play] t= 5.30s step= 265 trunk_z= 116.0mm grav_b=(-0.00,+0.00,-1.00) ball=(+2.900,-3.127,+0.150) r=0.04m +[headless_play] t= 5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.941,-3.190,+0.150) r=0.04m +[headless_play] t= 5.50s step= 275 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+2.981,-3.252,+0.150) r=0.04m +[headless_play] t= 5.60s step= 280 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.021,-3.315,+0.150) r=0.04m +[headless_play] t= 5.70s step= 285 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.061,-3.377,+0.150) r=0.04m +[headless_play] t= 5.80s step= 290 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.102,-3.439,+0.150) r=0.04m +[headless_play] t= 5.90s step= 295 trunk_z= 116.0mm grav_b=(-0.00,-0.00,-1.00) ball=(+3.142,-3.502,+0.150) r=0.04m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(-0.07,+0.00,-1.00) ball=(+0.214,-0.040,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.0mm grav_b=(-0.06,+0.15,-0.99) ball=(+0.214,-0.040,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..4461fadba2cfb7ec10a3464611749560ca1c701e --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t8.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.6mm grav_b=(-0.08,+0.00,-1.00) root_w=(-0.000,+0.000,+0.115) ball=(+0.198,-0.047,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 115.6mm grav_b=(-0.09,-0.00,-1.00) ball=(+0.198,-0.047,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.8mm grav_b=(-0.06,+0.15,-0.99) ball=(+0.198,-0.047,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 129.1mm grav_b=(-0.27,+0.25,-0.93) ball=(+0.232,-0.062,+0.163) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 129.2mm grav_b=(-0.33,+0.33,-0.89) ball=(+0.347,-0.110,+0.181) r=0.02m +[headless_play] t= 0.40s step= 20 trunk_z= 120.3mm grav_b=(-0.09,+0.14,-0.99) ball=(+0.457,-0.160,+0.148) r=0.01m +[headless_play] t= 0.50s step= 25 trunk_z= 115.9mm grav_b=(-0.08,+0.04,-1.00) ball=(+0.557,-0.213,+0.150) r=0.03m +[headless_play] t= 0.60s step= 30 trunk_z= 114.8mm grav_b=(-0.02,+0.03,-1.00) ball=(+0.657,-0.265,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 114.2mm grav_b=(+0.02,-0.03,-1.00) ball=(+0.757,-0.317,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 115.0mm grav_b=(+0.00,-0.01,-1.00) ball=(+0.857,-0.369,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 115.2mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.957,-0.421,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 116.5mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.057,-0.473,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.157,-0.525,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 118.1mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.257,-0.577,+0.150) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 115.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.288,-0.636,+0.149) r=0.07m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00) ball=(+1.323,-0.698,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.358,-0.760,+0.150) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 115.3mm grav_b=(-0.04,+0.00,-1.00) ball=(+1.393,-0.822,+0.150) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 115.6mm grav_b=(-0.03,+0.00,-1.00) ball=(+1.428,-0.884,+0.150) r=0.08m +[headless_play] t= 1.80s step= 90 trunk_z= 115.2mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.463,-0.946,+0.150) r=0.08m +[headless_play] t= 1.90s step= 95 trunk_z= 114.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.498,-1.008,+0.150) r=0.08m +[headless_play] t= 2.00s step= 100 trunk_z= 115.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.533,-1.069,+0.150) r=0.08m +[headless_play] t= 2.10s step= 105 trunk_z= 115.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.569,-1.131,+0.150) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 115.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.604,-1.193,+0.150) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 116.4mm grav_b=(-0.13,-0.00,-0.99) ball=(+1.639,-1.255,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 119.1mm grav_b=(-0.12,-0.03,-0.99) ball=(+1.674,-1.317,+0.150) r=0.11m +[headless_play] t= 2.50s step= 125 trunk_z= 108.3mm grav_b=(+0.02,-0.06,-1.00) ball=(+1.709,-1.379,+0.150) r=0.15m +[headless_play] t= 2.60s step= 130 trunk_z= 108.3mm grav_b=(+0.02,-0.06,-1.00) ball=(+1.744,-1.441,+0.150) r=0.19m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.02,-0.05,-1.00) ball=(+1.779,-1.503,+0.150) r=0.19m +[headless_play] t= 2.80s step= 140 trunk_z= 114.7mm grav_b=(+0.02,-0.02,-1.00) ball=(+1.814,-1.565,+0.150) r=0.19m +[headless_play] t= 2.90s step= 145 trunk_z= 115.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.849,-1.627,+0.150) r=0.19m +[headless_play] t= 3.00s step= 150 trunk_z= 115.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.884,-1.689,+0.150) r=0.19m +[headless_play] t= 3.10s step= 155 trunk_z= 115.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.919,-1.751,+0.150) r=0.19m +[headless_play] t= 3.20s step= 160 trunk_z= 116.1mm grav_b=(-0.01,-0.02,-1.00) ball=(+1.955,-1.813,+0.150) r=0.20m +[headless_play] t= 3.30s step= 165 trunk_z= 115.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.990,-1.875,+0.150) r=0.19m +[headless_play] t= 3.40s step= 170 trunk_z= 115.7mm grav_b=(+0.01,-0.00,-1.00) ball=(+2.025,-1.937,+0.150) r=0.19m +[headless_play] t= 3.50s step= 175 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+2.060,-1.999,+0.150) r=0.19m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(+0.01,-0.00,-1.00) ball=(+2.095,-2.061,+0.150) r=0.19m +[headless_play] t= 3.70s step= 185 trunk_z= 115.6mm grav_b=(+0.00,-0.00,-1.00) ball=(+2.130,-2.123,+0.150) r=0.19m +[headless_play] t= 3.80s step= 190 trunk_z= 116.3mm grav_b=(-0.01,-0.02,-1.00) ball=(+2.165,-2.185,+0.150) r=0.20m +[headless_play] t= 3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.07,-0.03,-1.00) ball=(+2.200,-2.247,+0.150) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 119.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+2.235,-2.309,+0.150) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.00,+0.02,-1.00) ball=(+2.270,-2.371,+0.150) r=0.23m +[headless_play] t= 4.20s step= 210 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.305,-2.433,+0.150) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 114.9mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.341,-2.495,+0.150) r=0.24m +[headless_play] t= 4.40s step= 220 trunk_z= 115.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.376,-2.557,+0.150) r=0.24m +[headless_play] t= 4.50s step= 225 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.411,-2.619,+0.150) r=0.24m +[headless_play] t= 4.60s step= 230 trunk_z= 116.0mm grav_b=(-0.00,-0.02,-1.00) ball=(+2.446,-2.681,+0.150) r=0.24m +[headless_play] t= 4.70s step= 235 trunk_z= 118.9mm grav_b=(-0.05,-0.03,-1.00) ball=(+2.481,-2.743,+0.150) r=0.25m +[headless_play] t= 4.80s step= 240 trunk_z= 119.7mm grav_b=(-0.03,-0.01,-1.00) ball=(+2.516,-2.805,+0.150) r=0.25m +[headless_play] t= 4.90s step= 245 trunk_z= 115.5mm grav_b=(-0.02,+0.01,-1.00) ball=(+2.551,-2.866,+0.150) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(-0.01,-0.02,-1.00) ball=(+2.586,-2.928,+0.150) r=0.28m +[headless_play] t= 5.10s step= 255 trunk_z= 114.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.621,-2.990,+0.150) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 115.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+2.656,-3.052,+0.150) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 115.2mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.691,-3.114,+0.150) r=0.27m +[headless_play] t= 5.40s step= 270 trunk_z= 115.3mm grav_b=(+0.00,+0.00,-1.00) ball=(+2.726,-3.176,+0.150) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 115.3mm grav_b=(-0.01,+0.00,-1.00) ball=(+2.762,-3.238,+0.150) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 115.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.797,-3.300,+0.150) r=0.27m +[headless_play] t= 5.70s step= 285 trunk_z= 118.2mm grav_b=(+0.10,-0.00,-1.00) ball=(+2.832,-3.362,+0.150) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 119.0mm grav_b=(+0.05,-0.02,-1.00) ball=(+2.867,-3.424,+0.150) r=0.30m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(-0.01,-0.05,-1.00) ball=(+2.902,-3.486,+0.150) r=0.32m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(-0.05,+0.04,-1.00) ball=(+0.217,-0.045,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.4mm grav_b=(-0.01,+0.15,-0.99) ball=(+0.217,-0.045,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..2b8a231d46e4d5769ef169157b098e2210551fba --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bknb-t9.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.9mm grav_b=(+0.03,+0.01,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.201,-0.031,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.203,-0.031,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.7mm grav_b=(+0.00,+0.14,-0.99) ball=(+0.207,-0.034,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 128.1mm grav_b=(-0.23,+0.25,-0.94) ball=(+0.241,-0.052,+0.160) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 125.6mm grav_b=(-0.24,+0.30,-0.92) ball=(+0.359,-0.100,+0.170) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 112.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.469,-0.147,+0.148) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 112.7mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.571,-0.192,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.674,-0.237,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.777,-0.282,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 116.7mm grav_b=(+0.06,-0.04,-1.00) ball=(+0.879,-0.327,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 120.3mm grav_b=(+0.08,-0.05,-1.00) ball=(+0.982,-0.372,+0.150) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 121.0mm grav_b=(+0.08,-0.02,-1.00) ball=(+1.084,-0.417,+0.150) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 113.4mm grav_b=(+0.04,-0.04,-1.00) ball=(+1.187,-0.462,+0.150) r=0.09m +[headless_play] t= 1.20s step= 60 trunk_z= 113.4mm grav_b=(+0.03,-0.02,-1.00) ball=(+1.236,-0.499,+0.160) r=0.09m +[headless_play] t= 1.30s step= 65 trunk_z= 114.2mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.222,-0.528,+0.149) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.217,-0.560,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.212,-0.593,+0.150) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 113.0mm grav_b=(-0.02,-0.01,-1.00) ball=(+1.206,-0.625,+0.150) r=0.08m +[headless_play] t= 1.70s step= 85 trunk_z= 112.8mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.201,-0.657,+0.150) r=0.09m +[headless_play] t= 1.80s step= 90 trunk_z= 113.2mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.196,-0.689,+0.150) r=0.09m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.191,-0.721,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.186,-0.753,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.180,-0.786,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.175,-0.818,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 114.3mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.170,-0.850,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 114.1mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.165,-0.882,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.160,-0.914,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.154,-0.947,+0.150) r=0.09m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.149,-0.979,+0.150) r=0.09m +[headless_play] t= 2.80s step= 140 trunk_z= 114.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.144,-1.011,+0.150) r=0.09m +[headless_play] t= 2.90s step= 145 trunk_z= 117.3mm grav_b=(+0.13,-0.01,-0.99) ball=(+1.139,-1.043,+0.150) r=0.11m +[headless_play] t= 3.00s step= 150 trunk_z= 117.3mm grav_b=(+0.10,-0.02,-1.00) ball=(+1.134,-1.075,+0.150) r=0.13m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(+0.03,-0.05,-1.00) ball=(+1.128,-1.107,+0.150) r=0.15m +[headless_play] t= 3.20s step= 160 trunk_z= 113.3mm grav_b=(-0.01,-0.05,-1.00) ball=(+1.123,-1.140,+0.150) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 113.0mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.118,-1.172,+0.150) r=0.17m +[headless_play] t= 3.40s step= 170 trunk_z= 112.9mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.113,-1.204,+0.150) r=0.17m +[headless_play] t= 3.50s step= 175 trunk_z= 113.2mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.108,-1.236,+0.150) r=0.17m +[headless_play] t= 3.60s step= 180 trunk_z= 113.3mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.102,-1.268,+0.150) r=0.17m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00) ball=(+1.097,-1.300,+0.150) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(-0.03,-0.01,-1.00) ball=(+1.092,-1.333,+0.150) r=0.16m +[headless_play] t= 3.90s step= 195 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.087,-1.365,+0.150) r=0.17m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.082,-1.397,+0.150) r=0.17m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.076,-1.429,+0.150) r=0.17m +[headless_play] t= 4.20s step= 210 trunk_z= 114.3mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.071,-1.461,+0.150) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.066,-1.493,+0.150) r=0.17m +[headless_play] t= 4.40s step= 220 trunk_z= 114.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.061,-1.526,+0.150) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 115.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.055,-1.558,+0.150) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.050,-1.590,+0.150) r=0.17m +[headless_play] t= 4.70s step= 235 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.045,-1.622,+0.150) r=0.17m +[headless_play] t= 4.80s step= 240 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.040,-1.654,+0.150) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.035,-1.686,+0.150) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 115.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.029,-1.719,+0.150) r=0.17m +[headless_play] t= 5.10s step= 255 trunk_z= 115.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.024,-1.751,+0.150) r=0.17m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.019,-1.783,+0.150) r=0.17m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.014,-1.815,+0.150) r=0.16m +[headless_play] t= 5.40s step= 270 trunk_z= 115.1mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.009,-1.847,+0.150) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 114.9mm grav_b=(+0.05,+0.00,-1.00) ball=(+1.003,-1.880,+0.150) r=0.17m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.998,-1.912,+0.150) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 116.3mm grav_b=(+0.06,-0.02,-1.00) ball=(+0.993,-1.944,+0.150) r=0.17m +[headless_play] t= 5.80s step= 290 trunk_z= 116.1mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.988,-1.976,+0.150) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.983,-2.008,+0.150) r=0.17m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.9mm grav_b=(-0.07,+0.05,-1.00) ball=(+0.192,-0.031,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.7mm grav_b=(-0.01,+0.14,-0.99) ball=(+0.195,-0.033,+0.150) r=0.02m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..6f414388d677757db6494308a4e6323c9b8ce2ee --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t1.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.3mm grav_b=(+0.04,-0.07,-1.00) root_w=(-0.000,+0.000,+0.118) ball=(+0.218,-0.031,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(+0.04,-0.07,-1.00) ball=(+0.218,-0.031,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.3mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.218,-0.031,+0.150) r=0.02m +[headless_play] t= 0.20s step= 10 trunk_z= 114.8mm grav_b=(+0.07,+0.01,-1.00) ball=(+0.239,-0.030,+0.151) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 110.4mm grav_b=(+0.01,+0.07,-1.00) ball=(+0.269,-0.026,+0.150) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 113.5mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.300,-0.022,+0.150) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 112.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.330,-0.018,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 112.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.361,-0.015,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 112.6mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.391,-0.011,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 112.7mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.422,-0.007,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 112.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.453,-0.003,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 112.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.483,+0.001,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 113.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.514,+0.005,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 115.6mm grav_b=(+0.08,+0.05,-1.00) ball=(+0.544,+0.009,+0.150) r=0.03m +[headless_play] t= 1.30s step= 65 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.575,+0.012,+0.150) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 113.1mm grav_b=(+0.02,-0.04,-1.00) ball=(+0.605,+0.016,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(+0.00,-0.01,-1.00) ball=(+0.636,+0.020,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 114.6mm grav_b=(-0.00,-0.01,-1.00) ball=(+0.667,+0.024,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(-0.00,-0.00,-1.00) ball=(+0.697,+0.028,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+0.728,+0.032,+0.150) r=0.06m +[headless_play] t= 1.90s step= 95 trunk_z= 114.3mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.758,+0.035,+0.150) r=0.06m +[headless_play] t= 2.00s step= 100 trunk_z= 116.9mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.789,+0.039,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 120.0mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.819,+0.043,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 109.4mm grav_b=(+0.00,-0.04,-1.00) ball=(+0.850,+0.047,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 113.7mm grav_b=(-0.01,-0.03,-1.00) ball=(+0.881,+0.051,+0.150) r=0.10m +[headless_play] t= 2.40s step= 120 trunk_z= 112.9mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.911,+0.055,+0.150) r=0.10m +[headless_play] t= 2.50s step= 125 trunk_z= 115.8mm grav_b=(+0.01,-0.06,-1.00) ball=(+0.942,+0.059,+0.150) r=0.10m +[headless_play] t= 2.60s step= 130 trunk_z= 116.7mm grav_b=(+0.01,-0.03,-1.00) ball=(+0.972,+0.062,+0.150) r=0.11m +[headless_play] t= 2.70s step= 135 trunk_z= 115.5mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.003,+0.066,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 115.2mm grav_b=(-0.00,-0.01,-1.00) ball=(+1.034,+0.070,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 115.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.064,+0.074,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 114.9mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.095,+0.078,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 114.8mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.125,+0.082,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 114.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.156,+0.085,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 114.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.186,+0.089,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.217,+0.093,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.248,+0.097,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.278,+0.101,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.309,+0.105,+0.150) r=0.10m +[headless_play] t= 3.80s step= 190 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.339,+0.109,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.370,+0.112,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.400,+0.116,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 114.2mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.431,+0.120,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 114.4mm grav_b=(-0.01,-0.01,-1.00) ball=(+1.462,+0.124,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 116.9mm grav_b=(-0.07,+0.00,-1.00) ball=(+1.492,+0.128,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 117.7mm grav_b=(-0.00,+0.05,-1.00) ball=(+1.523,+0.132,+0.150) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 111.1mm grav_b=(-0.02,+0.04,-1.00) ball=(+1.553,+0.136,+0.150) r=0.13m +[headless_play] t= 4.60s step= 230 trunk_z= 112.7mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.584,+0.139,+0.150) r=0.14m +[headless_play] t= 4.70s step= 235 trunk_z= 112.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.614,+0.143,+0.150) r=0.14m +[headless_play] t= 4.80s step= 240 trunk_z= 113.6mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.645,+0.147,+0.150) r=0.14m +[headless_play] t= 4.90s step= 245 trunk_z= 114.7mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.653,+0.149,+0.150) r=0.14m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.05,+0.00,-1.00) ball=(+1.651,+0.151,+0.150) r=0.14m +[headless_play] t= 5.10s step= 255 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.648,+0.153,+0.150) r=0.14m +[headless_play] t= 5.20s step= 260 trunk_z= 113.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.646,+0.155,+0.150) r=0.13m +[headless_play] t= 5.30s step= 265 trunk_z= 113.2mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.644,+0.157,+0.150) r=0.13m +[headless_play] t= 5.40s step= 270 trunk_z= 113.3mm grav_b=(+0.05,+0.00,-1.00) ball=(+1.641,+0.159,+0.150) r=0.14m +[headless_play] t= 5.50s step= 275 trunk_z= 117.5mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.639,+0.161,+0.150) r=0.14m +[headless_play] t= 5.60s step= 280 trunk_z= 119.4mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.637,+0.162,+0.150) r=0.15m +[headless_play] t= 5.70s step= 285 trunk_z= 111.9mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.635,+0.164,+0.150) r=0.17m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(-0.00,-0.02,-1.00) ball=(+1.632,+0.166,+0.150) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 113.9mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.630,+0.168,+0.150) r=0.16m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.3mm grav_b=(+0.02,+0.04,-1.00) ball=(+0.199,-0.030,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.5mm grav_b=(-0.01,+0.05,-1.00) ball=(+0.207,-0.033,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..09ababd6b12bb5c4c48ec4e9ccc71cdb56fd2579 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t10.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 117.6mm grav_b=(+0.01,+0.04,-1.00) root_w=(-0.000,+0.000,+0.118) ball=(+0.203,-0.054,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 117.5mm grav_b=(+0.00,+0.04,-1.00) ball=(+0.203,-0.054,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.9mm grav_b=(-0.03,+0.09,-1.00) ball=(+0.203,-0.054,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 116.6mm grav_b=(+0.10,+0.00,-0.99) ball=(+0.231,-0.056,+0.160) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 112.0mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.266,-0.056,+0.149) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.301,-0.055,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.337,-0.053,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 115.3mm grav_b=(-0.04,+0.05,-1.00) ball=(+0.373,-0.052,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 116.2mm grav_b=(-0.06,+0.04,-1.00) ball=(+0.408,-0.051,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 117.0mm grav_b=(-0.05,+0.03,-1.00) ball=(+0.444,-0.049,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 115.8mm grav_b=(-0.02,+0.06,-1.00) ball=(+0.479,-0.048,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 110.8mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.515,-0.046,+0.150) r=0.07m +[headless_play] t= 1.10s step= 55 trunk_z= 111.7mm grav_b=(+0.06,-0.00,-1.00) ball=(+0.551,-0.045,+0.150) r=0.07m +[headless_play] t= 1.20s step= 60 trunk_z= 115.2mm grav_b=(+0.13,+0.00,-0.99) ball=(+0.586,-0.044,+0.150) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 118.8mm grav_b=(+0.08,-0.01,-1.00) ball=(+0.622,-0.042,+0.150) r=0.09m +[headless_play] t= 1.40s step= 70 trunk_z= 104.2mm grav_b=(+0.04,-0.06,-1.00) ball=(+0.657,-0.041,+0.150) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 110.2mm grav_b=(+0.01,-0.02,-1.00) ball=(+0.693,-0.040,+0.150) r=0.11m +[headless_play] t= 1.60s step= 80 trunk_z= 114.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.729,-0.038,+0.150) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.764,-0.037,+0.150) r=0.11m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.800,-0.035,+0.150) r=0.11m +[headless_play] t= 1.90s step= 95 trunk_z= 113.4mm grav_b=(-0.01,+0.03,-1.00) ball=(+0.836,-0.034,+0.150) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.871,-0.033,+0.150) r=0.11m +[headless_play] t= 2.10s step= 105 trunk_z= 117.1mm grav_b=(+0.11,+0.00,-0.99) ball=(+0.907,-0.031,+0.150) r=0.12m +[headless_play] t= 2.20s step= 110 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.942,-0.030,+0.150) r=0.14m +[headless_play] t= 2.30s step= 115 trunk_z= 108.6mm grav_b=(+0.02,-0.02,-1.00) ball=(+0.978,-0.028,+0.150) r=0.16m +[headless_play] t= 2.40s step= 120 trunk_z= 112.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.014,-0.027,+0.150) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.049,-0.026,+0.150) r=0.16m +[headless_play] t= 2.60s step= 130 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.085,-0.024,+0.150) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.121,-0.023,+0.150) r=0.16m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.156,-0.021,+0.150) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 113.5mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.192,-0.020,+0.150) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 115.0mm grav_b=(+0.04,+0.05,-1.00) ball=(+1.227,-0.019,+0.150) r=0.15m +[headless_play] t= 3.10s step= 155 trunk_z= 115.5mm grav_b=(+0.03,+0.04,-1.00) ball=(+1.263,-0.017,+0.150) r=0.15m +[headless_play] t= 3.20s step= 160 trunk_z= 114.5mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.299,-0.016,+0.150) r=0.15m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.334,-0.015,+0.150) r=0.15m +[headless_play] t= 3.40s step= 170 trunk_z= 114.2mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.370,-0.013,+0.150) r=0.15m +[headless_play] t= 3.50s step= 175 trunk_z= 114.0mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.405,-0.012,+0.150) r=0.15m +[headless_play] t= 3.60s step= 180 trunk_z= 114.7mm grav_b=(+0.05,+0.04,-1.00) ball=(+1.441,-0.010,+0.150) r=0.15m +[headless_play] t= 3.70s step= 185 trunk_z= 114.8mm grav_b=(+0.04,+0.03,-1.00) ball=(+1.477,-0.009,+0.150) r=0.15m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.512,-0.008,+0.150) r=0.15m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.548,-0.006,+0.150) r=0.15m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.584,-0.005,+0.150) r=0.15m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.619,-0.003,+0.150) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.652,-0.002,+0.150) r=0.15m +[headless_play] t= 4.30s step= 215 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.653,-0.003,+0.150) r=0.15m +[headless_play] t= 4.40s step= 220 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.650,-0.004,+0.150) r=0.15m +[headless_play] t= 4.50s step= 225 trunk_z= 114.2mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.648,-0.005,+0.150) r=0.15m +[headless_play] t= 4.60s step= 230 trunk_z= 114.6mm grav_b=(-0.01,+0.03,-1.00) ball=(+1.645,-0.005,+0.150) r=0.15m +[headless_play] t= 4.70s step= 235 trunk_z= 114.3mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.643,-0.006,+0.150) r=0.15m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.640,-0.007,+0.150) r=0.15m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.638,-0.008,+0.150) r=0.15m +[headless_play] t= 5.00s step= 250 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.635,-0.009,+0.150) r=0.15m +[headless_play] t= 5.10s step= 255 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.633,-0.010,+0.150) r=0.15m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.630,-0.011,+0.150) r=0.15m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.628,-0.011,+0.150) r=0.15m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.625,-0.012,+0.150) r=0.15m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(+0.06,+0.00,-1.00) ball=(+1.623,-0.013,+0.150) r=0.15m +[headless_play] t= 5.60s step= 280 trunk_z= 114.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.620,-0.014,+0.150) r=0.15m +[headless_play] t= 5.70s step= 285 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.618,-0.015,+0.150) r=0.15m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.615,-0.016,+0.150) r=0.15m +[headless_play] t= 5.90s step= 295 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.613,-0.017,+0.150) r=0.15m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.8mm grav_b=(+0.04,+0.03,-1.00) ball=(+0.202,-0.034,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.1mm grav_b=(-0.02,+0.04,-1.00) ball=(+0.210,-0.037,+0.150) r=0.00m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..3c46ed2acdd3e01438fcf050fff759784416637b --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t2.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.3mm grav_b=(+0.09,+0.06,-0.99) root_w=(-0.000,+0.000,+0.111) ball=(+0.210,-0.036,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 113.0mm grav_b=(+0.09,+0.06,-0.99) ball=(+0.212,-0.036,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.1mm grav_b=(-0.00,+0.07,-1.00) ball=(+0.219,-0.039,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 114.5mm grav_b=(+0.06,+0.05,-1.00) ball=(+0.248,-0.037,+0.149) r=0.04m +[headless_play] t= 0.30s step= 15 trunk_z= 110.9mm grav_b=(+0.02,+0.09,-1.00) ball=(+0.284,-0.035,+0.150) r=0.06m +[headless_play] t= 0.40s step= 20 trunk_z= 112.0mm grav_b=(+0.05,+0.04,-1.00) ball=(+0.319,-0.032,+0.150) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 112.1mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.355,-0.030,+0.150) r=0.07m +[headless_play] t= 0.60s step= 30 trunk_z= 112.3mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.391,-0.027,+0.150) r=0.07m +[headless_play] t= 0.70s step= 35 trunk_z= 112.4mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.427,-0.025,+0.150) r=0.07m +[headless_play] t= 0.80s step= 40 trunk_z= 112.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.463,-0.022,+0.150) r=0.07m +[headless_play] t= 0.90s step= 45 trunk_z= 112.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.499,-0.020,+0.150) r=0.07m +[headless_play] t= 1.00s step= 50 trunk_z= 114.8mm grav_b=(+0.08,-0.02,-1.00) ball=(+0.534,-0.017,+0.150) r=0.08m +[headless_play] t= 1.10s step= 55 trunk_z= 117.2mm grav_b=(+0.09,-0.02,-1.00) ball=(+0.570,-0.015,+0.150) r=0.08m +[headless_play] t= 1.20s step= 60 trunk_z= 120.1mm grav_b=(+0.07,-0.01,-1.00) ball=(+0.606,-0.012,+0.150) r=0.08m +[headless_play] t= 1.30s step= 65 trunk_z= 111.9mm grav_b=(+0.04,-0.03,-1.00) ball=(+0.642,-0.010,+0.150) r=0.10m +[headless_play] t= 1.40s step= 70 trunk_z= 113.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.678,-0.007,+0.150) r=0.10m +[headless_play] t= 1.50s step= 75 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.714,-0.005,+0.150) r=0.10m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.749,-0.002,+0.150) r=0.10m +[headless_play] t= 1.70s step= 85 trunk_z= 114.4mm grav_b=(-0.05,+0.00,-1.00) ball=(+0.785,+0.000,+0.150) r=0.10m +[headless_play] t= 1.80s step= 90 trunk_z= 117.5mm grav_b=(-0.09,+0.02,-1.00) ball=(+0.821,+0.003,+0.150) r=0.10m +[headless_play] t= 1.90s step= 95 trunk_z= 116.0mm grav_b=(-0.01,+0.04,-1.00) ball=(+0.857,+0.005,+0.150) r=0.13m +[headless_play] t= 2.00s step= 100 trunk_z= 106.0mm grav_b=(+0.01,+0.06,-1.00) ball=(+0.893,+0.008,+0.150) r=0.17m +[headless_play] t= 2.10s step= 105 trunk_z= 111.3mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.928,+0.010,+0.150) r=0.17m +[headless_play] t= 2.20s step= 110 trunk_z= 112.3mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.964,+0.013,+0.150) r=0.17m +[headless_play] t= 2.30s step= 115 trunk_z= 112.7mm grav_b=(+0.06,+0.00,-1.00) ball=(+1.000,+0.015,+0.150) r=0.17m +[headless_play] t= 2.40s step= 120 trunk_z= 112.6mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.036,+0.018,+0.150) r=0.17m +[headless_play] t= 2.50s step= 125 trunk_z= 112.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.072,+0.020,+0.150) r=0.17m +[headless_play] t= 2.60s step= 130 trunk_z= 112.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.108,+0.023,+0.150) r=0.17m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.143,+0.025,+0.150) r=0.17m +[headless_play] t= 2.80s step= 140 trunk_z= 112.9mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.179,+0.028,+0.150) r=0.17m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.11,+0.02,-0.99) ball=(+1.215,+0.030,+0.150) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 118.8mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.251,+0.033,+0.150) r=0.17m +[headless_play] t= 3.10s step= 155 trunk_z= 112.8mm grav_b=(+0.03,-0.04,-1.00) ball=(+1.287,+0.035,+0.150) r=0.18m +[headless_play] t= 3.20s step= 160 trunk_z= 115.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.323,+0.038,+0.150) r=0.19m +[headless_play] t= 3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.01,-0.00,-1.00) ball=(+1.358,+0.041,+0.150) r=0.18m +[headless_play] t= 3.40s step= 170 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.394,+0.043,+0.150) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.430,+0.046,+0.150) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.466,+0.048,+0.150) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 113.7mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.502,+0.051,+0.150) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) ball=(+1.538,+0.053,+0.150) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.573,+0.056,+0.150) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.609,+0.058,+0.150) r=0.18m +[headless_play] t= 4.10s step= 205 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.645,+0.061,+0.150) r=0.18m +[headless_play] t= 4.20s step= 210 trunk_z= 113.6mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.654,+0.062,+0.150) r=0.18m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.651,+0.063,+0.150) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 113.6mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.648,+0.064,+0.150) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(-0.03,+0.02,-1.00) ball=(+1.645,+0.065,+0.150) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 116.7mm grav_b=(-0.02,+0.02,-1.00) ball=(+1.643,+0.066,+0.150) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 116.9mm grav_b=(+0.01,+0.06,-1.00) ball=(+1.640,+0.066,+0.150) r=0.19m +[headless_play] t= 4.80s step= 240 trunk_z= 108.7mm grav_b=(+0.06,+0.03,-1.00) ball=(+1.637,+0.067,+0.150) r=0.21m +[headless_play] t= 4.90s step= 245 trunk_z= 111.6mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.634,+0.068,+0.150) r=0.22m +[headless_play] t= 5.00s step= 250 trunk_z= 111.6mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.631,+0.069,+0.150) r=0.22m +[headless_play] t= 5.10s step= 255 trunk_z= 111.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.628,+0.070,+0.150) r=0.22m +[headless_play] t= 5.20s step= 260 trunk_z= 112.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.625,+0.071,+0.150) r=0.22m +[headless_play] t= 5.30s step= 265 trunk_z= 112.1mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.623,+0.072,+0.150) r=0.22m +[headless_play] t= 5.40s step= 270 trunk_z= 112.2mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.620,+0.073,+0.150) r=0.22m +[headless_play] t= 5.50s step= 275 trunk_z= 112.5mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.617,+0.074,+0.150) r=0.21m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.614,+0.074,+0.150) r=0.21m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.02,+0.05,-1.00) ball=(+1.611,+0.075,+0.150) r=0.21m +[headless_play] t= 5.80s step= 290 trunk_z= 112.4mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.608,+0.076,+0.150) r=0.21m +[headless_play] t= 5.90s step= 295 trunk_z= 112.9mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.606,+0.077,+0.150) r=0.21m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.1mm grav_b=(-0.07,+0.01,-1.00) ball=(+0.201,-0.028,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 120.9mm grav_b=(-0.03,+0.00,-1.00) ball=(+0.201,-0.028,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..0bb961cfcedfd91f84e944c83271cd85e6278999 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t3.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.4mm grav_b=(+0.02,+0.05,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.195,-0.054,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 115.1mm grav_b=(+0.01,+0.05,-1.00) ball=(+0.196,-0.054,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(+0.02,+0.05,-1.00) ball=(+0.201,-0.055,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 115.4mm grav_b=(+0.18,+0.02,-0.98) ball=(+0.237,-0.061,+0.156) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 116.0mm grav_b=(+0.11,+0.12,-0.99) ball=(+0.275,-0.063,+0.149) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 120.1mm grav_b=(+0.12,+0.00,-0.99) ball=(+0.315,-0.060,+0.150) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 108.3mm grav_b=(+0.05,-0.08,-1.00) ball=(+0.354,-0.057,+0.150) r=0.10m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(+0.06,-0.01,-1.00) ball=(+0.394,-0.054,+0.150) r=0.11m +[headless_play] t= 0.70s step= 35 trunk_z= 115.7mm grav_b=(+0.08,-0.02,-1.00) ball=(+0.433,-0.051,+0.150) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 115.1mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.473,-0.048,+0.150) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.512,-0.046,+0.150) r=0.11m +[headless_play] t= 1.00s step= 50 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.552,-0.043,+0.150) r=0.11m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.591,-0.040,+0.150) r=0.11m +[headless_play] t= 1.20s step= 60 trunk_z= 113.9mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.630,-0.037,+0.150) r=0.11m +[headless_play] t= 1.30s step= 65 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.670,-0.034,+0.150) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 114.6mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.709,-0.031,+0.150) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 116.3mm grav_b=(+0.08,-0.02,-1.00) ball=(+0.749,-0.028,+0.150) r=0.12m +[headless_play] t= 1.60s step= 80 trunk_z= 116.8mm grav_b=(+0.09,+0.00,-1.00) ball=(+0.788,-0.026,+0.150) r=0.12m +[headless_play] t= 1.70s step= 85 trunk_z= 115.9mm grav_b=(+0.08,+0.00,-1.00) ball=(+0.828,-0.023,+0.150) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 115.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.867,-0.020,+0.150) r=0.12m +[headless_play] t= 1.90s step= 95 trunk_z= 114.8mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.907,-0.017,+0.150) r=0.11m +[headless_play] t= 2.00s step= 100 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.946,-0.014,+0.150) r=0.11m +[headless_play] t= 2.10s step= 105 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.985,-0.011,+0.150) r=0.11m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.025,-0.008,+0.150) r=0.11m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.064,-0.006,+0.150) r=0.11m +[headless_play] t= 2.40s step= 120 trunk_z= 114.8mm grav_b=(+0.08,+0.01,-1.00) ball=(+1.104,-0.003,+0.150) r=0.11m +[headless_play] t= 2.50s step= 125 trunk_z= 115.7mm grav_b=(+0.10,+0.01,-0.99) ball=(+1.143,+0.000,+0.150) r=0.11m +[headless_play] t= 2.60s step= 130 trunk_z= 115.9mm grav_b=(+0.11,+0.01,-0.99) ball=(+1.183,+0.003,+0.150) r=0.11m +[headless_play] t= 2.70s step= 135 trunk_z= 115.4mm grav_b=(+0.10,+0.02,-0.99) ball=(+1.222,+0.006,+0.150) r=0.11m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(+0.06,+0.01,-1.00) ball=(+1.262,+0.009,+0.150) r=0.11m +[headless_play] t= 2.90s step= 145 trunk_z= 113.8mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.301,+0.012,+0.150) r=0.11m +[headless_play] t= 3.00s step= 150 trunk_z= 117.2mm grav_b=(-0.04,+0.04,-1.00) ball=(+1.341,+0.014,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 119.3mm grav_b=(-0.05,+0.04,-1.00) ball=(+1.380,+0.017,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 111.9mm grav_b=(+0.05,+0.06,-1.00) ball=(+1.419,+0.020,+0.150) r=0.12m +[headless_play] t= 3.30s step= 165 trunk_z= 111.0mm grav_b=(+0.12,+0.04,-0.99) ball=(+1.459,+0.023,+0.150) r=0.14m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(+0.10,+0.02,-1.00) ball=(+1.498,+0.026,+0.150) r=0.14m +[headless_play] t= 3.50s step= 175 trunk_z= 113.6mm grav_b=(+0.09,+0.03,-1.00) ball=(+1.538,+0.029,+0.150) r=0.14m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(-0.03,+0.04,-1.00) ball=(+1.577,+0.032,+0.150) r=0.13m +[headless_play] t= 3.70s step= 185 trunk_z= 117.6mm grav_b=(+0.04,+0.09,-1.00) ball=(+1.617,+0.035,+0.150) r=0.12m +[headless_play] t= 3.80s step= 190 trunk_z= 111.1mm grav_b=(+0.10,+0.08,-0.99) ball=(+1.653,+0.037,+0.150) r=0.13m +[headless_play] t= 3.90s step= 195 trunk_z= 113.3mm grav_b=(+0.12,+0.01,-0.99) ball=(+1.654,+0.039,+0.150) r=0.14m +[headless_play] t= 4.00s step= 200 trunk_z= 117.0mm grav_b=(+0.11,+0.01,-0.99) ball=(+1.651,+0.041,+0.150) r=0.15m +[headless_play] t= 4.10s step= 205 trunk_z= 118.4mm grav_b=(+0.10,-0.00,-1.00) ball=(+1.647,+0.043,+0.150) r=0.15m +[headless_play] t= 4.20s step= 210 trunk_z= 110.0mm grav_b=(+0.10,-0.02,-0.99) ball=(+1.645,+0.044,+0.150) r=0.17m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.08,+0.02,-1.00) ball=(+1.642,+0.046,+0.150) r=0.18m +[headless_play] t= 4.40s step= 220 trunk_z= 115.5mm grav_b=(+0.07,+0.04,-1.00) ball=(+1.639,+0.048,+0.150) r=0.18m +[headless_play] t= 4.50s step= 225 trunk_z= 114.7mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.636,+0.050,+0.150) r=0.18m +[headless_play] t= 4.60s step= 230 trunk_z= 114.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.633,+0.052,+0.150) r=0.18m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.630,+0.053,+0.150) r=0.18m +[headless_play] t= 4.80s step= 240 trunk_z= 113.9mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.627,+0.055,+0.150) r=0.18m +[headless_play] t= 4.90s step= 245 trunk_z= 113.9mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.624,+0.057,+0.150) r=0.18m +[headless_play] t= 5.00s step= 250 trunk_z= 113.9mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.621,+0.059,+0.150) r=0.18m +[headless_play] t= 5.10s step= 255 trunk_z= 114.4mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.618,+0.061,+0.150) r=0.18m +[headless_play] t= 5.20s step= 260 trunk_z= 115.6mm grav_b=(+0.09,+0.02,-1.00) ball=(+1.615,+0.062,+0.150) r=0.18m +[headless_play] t= 5.30s step= 265 trunk_z= 115.8mm grav_b=(+0.09,+0.02,-1.00) ball=(+1.612,+0.064,+0.150) r=0.18m +[headless_play] t= 5.40s step= 270 trunk_z= 114.9mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.609,+0.066,+0.150) r=0.18m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.606,+0.068,+0.150) r=0.18m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.603,+0.069,+0.150) r=0.18m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.600,+0.071,+0.150) r=0.18m +[headless_play] t= 5.80s step= 290 trunk_z= 115.5mm grav_b=(+0.05,+0.03,-1.00) ball=(+1.597,+0.073,+0.150) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(+0.04,+0.02,-1.00) ball=(+1.594,+0.075,+0.150) r=0.17m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.9mm grav_b=(+0.03,-0.07,-1.00) ball=(+0.200,-0.033,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 121.2mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.204,-0.033,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..17cffb1c22df99b2e9d1cac8f0b2565e85854b0a --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t4.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.7mm grav_b=(+0.06,+0.04,-1.00) root_w=(-0.000,+0.000,+0.119) ball=(+0.191,-0.045,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 118.9mm grav_b=(+0.05,+0.05,-1.00) ball=(+0.193,-0.046,+0.149) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.6mm grav_b=(+0.01,+0.07,-1.00) ball=(+0.200,-0.049,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 115.1mm grav_b=(+0.09,+0.01,-1.00) ball=(+0.231,-0.052,+0.151) r=0.04m +[headless_play] t= 0.30s step= 15 trunk_z= 115.2mm grav_b=(+0.06,+0.08,-0.99) ball=(+0.269,-0.052,+0.150) r=0.07m +[headless_play] t= 0.40s step= 20 trunk_z= 119.4mm grav_b=(+0.08,+0.01,-1.00) ball=(+0.307,-0.051,+0.150) r=0.08m +[headless_play] t= 0.50s step= 25 trunk_z= 107.6mm grav_b=(+0.02,-0.04,-1.00) ball=(+0.345,-0.051,+0.150) r=0.11m +[headless_play] t= 0.60s step= 30 trunk_z= 110.8mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.384,-0.051,+0.150) r=0.12m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.422,-0.050,+0.150) r=0.12m +[headless_play] t= 0.80s step= 40 trunk_z= 113.8mm grav_b=(+0.04,+0.02,-1.00) ball=(+0.460,-0.050,+0.150) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 114.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.498,-0.050,+0.150) r=0.12m +[headless_play] t= 1.00s step= 50 trunk_z= 114.7mm grav_b=(+0.03,-0.01,-1.00) ball=(+0.537,-0.050,+0.150) r=0.12m +[headless_play] t= 1.10s step= 55 trunk_z= 114.3mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.575,-0.049,+0.150) r=0.12m +[headless_play] t= 1.20s step= 60 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.613,-0.049,+0.150) r=0.12m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.652,-0.049,+0.150) r=0.11m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.690,-0.048,+0.150) r=0.11m +[headless_play] t= 1.50s step= 75 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.728,-0.048,+0.150) r=0.11m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.766,-0.048,+0.150) r=0.11m +[headless_play] t= 1.70s step= 85 trunk_z= 114.2mm grav_b=(-0.06,+0.02,-1.00) ball=(+0.805,-0.047,+0.150) r=0.12m +[headless_play] t= 1.80s step= 90 trunk_z= 116.5mm grav_b=(-0.02,+0.05,-1.00) ball=(+0.843,-0.047,+0.150) r=0.11m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.881,-0.047,+0.150) r=0.13m +[headless_play] t= 2.00s step= 100 trunk_z= 114.3mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.919,-0.046,+0.150) r=0.13m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.958,-0.046,+0.150) r=0.13m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.996,-0.046,+0.150) r=0.13m +[headless_play] t= 2.30s step= 115 trunk_z= 113.8mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.034,-0.046,+0.150) r=0.13m +[headless_play] t= 2.40s step= 120 trunk_z= 113.7mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.072,-0.045,+0.150) r=0.13m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.111,-0.045,+0.150) r=0.13m +[headless_play] t= 2.60s step= 130 trunk_z= 113.7mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.149,-0.045,+0.150) r=0.13m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.187,-0.044,+0.150) r=0.13m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.225,-0.044,+0.150) r=0.13m +[headless_play] t= 2.90s step= 145 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.264,-0.044,+0.150) r=0.13m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.302,-0.043,+0.150) r=0.13m +[headless_play] t= 3.10s step= 155 trunk_z= 115.6mm grav_b=(+0.06,-0.01,-1.00) ball=(+1.340,-0.043,+0.150) r=0.14m +[headless_play] t= 3.20s step= 160 trunk_z= 121.1mm grav_b=(+0.09,-0.03,-1.00) ball=(+1.378,-0.043,+0.150) r=0.14m +[headless_play] t= 3.30s step= 165 trunk_z= 121.2mm grav_b=(+0.04,-0.02,-1.00) ball=(+1.417,-0.042,+0.150) r=0.16m +[headless_play] t= 3.40s step= 170 trunk_z= 106.6mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.455,-0.042,+0.150) r=0.18m +[headless_play] t= 3.50s step= 175 trunk_z= 110.6mm grav_b=(+0.01,-0.02,-1.00) ball=(+1.493,-0.042,+0.150) r=0.18m +[headless_play] t= 3.60s step= 180 trunk_z= 113.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.531,-0.041,+0.150) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 113.3mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.570,-0.041,+0.150) r=0.18m +[headless_play] t= 3.80s step= 190 trunk_z= 113.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.608,-0.041,+0.150) r=0.18m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(-0.09,+0.01,-1.00) ball=(+1.646,-0.041,+0.150) r=0.18m +[headless_play] t= 4.00s step= 200 trunk_z= 116.7mm grav_b=(-0.07,+0.03,-1.00) ball=(+1.654,-0.042,+0.150) r=0.19m +[headless_play] t= 4.10s step= 205 trunk_z= 107.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.651,-0.045,+0.150) r=0.22m +[headless_play] t= 4.20s step= 210 trunk_z= 111.1mm grav_b=(+0.05,+0.03,-1.00) ball=(+1.648,-0.047,+0.150) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 112.5mm grav_b=(+0.08,+0.01,-1.00) ball=(+1.645,-0.050,+0.150) r=0.23m +[headless_play] t= 4.40s step= 220 trunk_z= 113.2mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.643,-0.052,+0.150) r=0.23m +[headless_play] t= 4.50s step= 225 trunk_z= 113.6mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.640,-0.055,+0.150) r=0.23m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.637,-0.057,+0.150) r=0.23m +[headless_play] t= 4.70s step= 235 trunk_z= 113.3mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.634,-0.059,+0.150) r=0.23m +[headless_play] t= 4.80s step= 240 trunk_z= 115.5mm grav_b=(+0.12,+0.03,-0.99) ball=(+1.631,-0.062,+0.150) r=0.23m +[headless_play] t= 4.90s step= 245 trunk_z= 117.7mm grav_b=(+0.07,-0.00,-1.00) ball=(+1.629,-0.064,+0.150) r=0.24m +[headless_play] t= 5.00s step= 250 trunk_z= 106.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.626,-0.067,+0.150) r=0.26m +[headless_play] t= 5.10s step= 255 trunk_z= 111.5mm grav_b=(+0.02,-0.03,-1.00) ball=(+1.623,-0.069,+0.150) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 113.7mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.620,-0.072,+0.150) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.617,-0.074,+0.150) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 113.4mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.615,-0.076,+0.150) r=0.26m +[headless_play] t= 5.50s step= 275 trunk_z= 113.3mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.612,-0.079,+0.150) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 115.8mm grav_b=(+0.05,+0.04,-1.00) ball=(+1.609,-0.081,+0.150) r=0.25m +[headless_play] t= 5.70s step= 285 trunk_z= 116.9mm grav_b=(+0.05,+0.04,-1.00) ball=(+1.606,-0.084,+0.150) r=0.25m +[headless_play] t= 5.80s step= 290 trunk_z= 116.1mm grav_b=(+0.04,+0.03,-1.00) ball=(+1.603,-0.086,+0.150) r=0.25m +[headless_play] t= 5.90s step= 295 trunk_z= 114.5mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.601,-0.089,+0.150) r=0.25m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.1mm grav_b=(+0.03,+0.08,-1.00) ball=(+0.205,-0.036,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 124.2mm grav_b=(+0.00,+0.10,-0.99) ball=(+0.205,-0.036,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..d0e3e82515ded7bd6926b7880855fef8767dfa33 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t5.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.7mm grav_b=(+0.06,-0.02,-1.00) root_w=(-0.000,+0.000,+0.115) ball=(+0.211,-0.049,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.6mm grav_b=(+0.07,-0.02,-1.00) ball=(+0.211,-0.049,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 121.1mm grav_b=(+0.03,+0.03,-1.00) ball=(+0.211,-0.049,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 114.9mm grav_b=(+0.08,+0.01,-1.00) ball=(+0.238,-0.051,+0.161) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 113.0mm grav_b=(+0.08,+0.04,-1.00) ball=(+0.276,-0.052,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 116.0mm grav_b=(+0.07,+0.04,-1.00) ball=(+0.313,-0.052,+0.150) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 114.8mm grav_b=(+0.05,+0.04,-1.00) ball=(+0.351,-0.053,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 113.8mm grav_b=(+0.04,+0.02,-1.00) ball=(+0.389,-0.053,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 114.2mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.427,-0.053,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 114.1mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.465,-0.053,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 114.0mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.503,-0.053,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 114.0mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.540,-0.053,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.578,-0.053,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.616,-0.053,+0.150) r=0.06m +[headless_play] t= 1.30s step= 65 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.654,-0.053,+0.150) r=0.06m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.692,-0.053,+0.150) r=0.06m +[headless_play] t= 1.50s step= 75 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.730,-0.053,+0.150) r=0.06m +[headless_play] t= 1.60s step= 80 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.767,-0.053,+0.150) r=0.06m +[headless_play] t= 1.70s step= 85 trunk_z= 115.6mm grav_b=(+0.14,+0.02,-0.99) ball=(+0.805,-0.053,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 120.2mm grav_b=(+0.11,+0.00,-0.99) ball=(+0.843,-0.053,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 107.7mm grav_b=(+0.13,-0.02,-0.99) ball=(+0.881,-0.054,+0.150) r=0.09m +[headless_play] t= 2.00s step= 100 trunk_z= 110.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.919,-0.054,+0.150) r=0.09m +[headless_play] t= 2.10s step= 105 trunk_z= 112.4mm grav_b=(+0.04,-0.01,-1.00) ball=(+0.956,-0.054,+0.150) r=0.09m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.07,+0.01,-1.00) ball=(+0.994,-0.054,+0.150) r=0.09m +[headless_play] t= 2.30s step= 115 trunk_z= 113.8mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.032,-0.054,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 113.2mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.070,-0.054,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 113.2mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.108,-0.054,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 113.1mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.146,-0.054,+0.150) r=0.10m +[headless_play] t= 2.70s step= 135 trunk_z= 113.1mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.183,-0.054,+0.150) r=0.10m +[headless_play] t= 2.80s step= 140 trunk_z= 113.0mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.221,-0.054,+0.150) r=0.10m +[headless_play] t= 2.90s step= 145 trunk_z= 113.0mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.259,-0.054,+0.150) r=0.10m +[headless_play] t= 3.00s step= 150 trunk_z= 113.2mm grav_b=(+0.08,+0.00,-1.00) ball=(+1.297,-0.054,+0.150) r=0.10m +[headless_play] t= 3.10s step= 155 trunk_z= 113.2mm grav_b=(+0.07,-0.00,-1.00) ball=(+1.335,-0.054,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.373,-0.055,+0.150) r=0.10m +[headless_play] t= 3.30s step= 165 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.410,-0.055,+0.150) r=0.10m +[headless_play] t= 3.40s step= 170 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.448,-0.055,+0.150) r=0.10m +[headless_play] t= 3.50s step= 175 trunk_z= 113.2mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.486,-0.055,+0.150) r=0.10m +[headless_play] t= 3.60s step= 180 trunk_z= 113.1mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.524,-0.055,+0.150) r=0.10m +[headless_play] t= 3.70s step= 185 trunk_z= 113.6mm grav_b=(+0.08,+0.01,-1.00) ball=(+1.562,-0.055,+0.150) r=0.09m +[headless_play] t= 3.80s step= 190 trunk_z= 114.7mm grav_b=(+0.10,+0.01,-0.99) ball=(+1.599,-0.055,+0.150) r=0.10m +[headless_play] t= 3.90s step= 195 trunk_z= 115.1mm grav_b=(+0.11,+0.01,-0.99) ball=(+1.637,-0.055,+0.150) r=0.10m +[headless_play] t= 4.00s step= 200 trunk_z= 115.8mm grav_b=(+0.10,+0.02,-0.99) ball=(+1.655,-0.056,+0.150) r=0.10m +[headless_play] t= 4.10s step= 205 trunk_z= 115.7mm grav_b=(+0.09,+0.02,-1.00) ball=(+1.652,-0.057,+0.150) r=0.10m +[headless_play] t= 4.20s step= 210 trunk_z= 114.7mm grav_b=(+0.08,+0.01,-1.00) ball=(+1.649,-0.058,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.646,-0.060,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 113.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.643,-0.061,+0.150) r=0.10m +[headless_play] t= 4.50s step= 225 trunk_z= 116.7mm grav_b=(+0.07,-0.04,-1.00) ball=(+1.640,-0.062,+0.150) r=0.11m +[headless_play] t= 4.60s step= 230 trunk_z= 116.8mm grav_b=(+0.09,-0.02,-1.00) ball=(+1.637,-0.063,+0.150) r=0.11m +[headless_play] t= 4.70s step= 235 trunk_z= 116.3mm grav_b=(+0.08,-0.01,-1.00) ball=(+1.634,-0.065,+0.150) r=0.11m +[headless_play] t= 4.80s step= 240 trunk_z= 116.1mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.631,-0.066,+0.150) r=0.11m +[headless_play] t= 4.90s step= 245 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00) ball=(+1.628,-0.067,+0.150) r=0.11m +[headless_play] t= 5.00s step= 250 trunk_z= 115.6mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.625,-0.068,+0.150) r=0.11m +[headless_play] t= 5.10s step= 255 trunk_z= 115.4mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.622,-0.070,+0.150) r=0.11m +[headless_play] t= 5.20s step= 260 trunk_z= 115.3mm grav_b=(+0.05,+0.00,-1.00) ball=(+1.619,-0.071,+0.150) r=0.11m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(+0.06,+0.00,-1.00) ball=(+1.616,-0.072,+0.150) r=0.11m +[headless_play] t= 5.40s step= 270 trunk_z= 116.9mm grav_b=(+0.02,+0.03,-1.00) ball=(+1.613,-0.073,+0.150) r=0.10m +[headless_play] t= 5.50s step= 275 trunk_z= 116.7mm grav_b=(-0.00,+0.03,-1.00) ball=(+1.610,-0.075,+0.150) r=0.10m +[headless_play] t= 5.60s step= 280 trunk_z= 116.5mm grav_b=(+0.00,+0.03,-1.00) ball=(+1.607,-0.076,+0.150) r=0.10m +[headless_play] t= 5.70s step= 285 trunk_z= 115.9mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.604,-0.077,+0.150) r=0.10m +[headless_play] t= 5.80s step= 290 trunk_z= 115.2mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.601,-0.078,+0.150) r=0.10m +[headless_play] t= 5.90s step= 295 trunk_z= 115.2mm grav_b=(+0.09,+0.01,-1.00) ball=(+1.598,-0.080,+0.150) r=0.10m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 118.5mm grav_b=(+0.03,+0.06,-1.00) ball=(+0.191,-0.038,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.2mm grav_b=(+0.01,+0.08,-1.00) ball=(+0.193,-0.040,+0.150) r=0.00m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..d762f49f4db4cfb8e35cf6b2da75aad31055faed --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t6.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.0mm grav_b=(-0.02,+0.01,-1.00) root_w=(-0.000,+0.000,+0.118) ball=(+0.209,-0.049,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) ball=(+0.209,-0.049,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.2mm grav_b=(-0.03,+0.08,-1.00) ball=(+0.209,-0.049,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 116.4mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.245,-0.052,+0.162) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 114.6mm grav_b=(-0.01,-0.04,-1.00) ball=(+0.287,-0.055,+0.149) r=0.04m +[headless_play] t= 0.40s step= 20 trunk_z= 117.4mm grav_b=(-0.05,+0.01,-1.00) ball=(+0.329,-0.056,+0.150) r=0.05m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(-0.04,+0.02,-1.00) ball=(+0.371,-0.057,+0.150) r=0.05m +[headless_play] t= 0.60s step= 30 trunk_z= 117.3mm grav_b=(-0.01,+0.04,-1.00) ball=(+0.413,-0.058,+0.150) r=0.05m +[headless_play] t= 0.70s step= 35 trunk_z= 116.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.455,-0.059,+0.150) r=0.05m +[headless_play] t= 0.80s step= 40 trunk_z= 116.1mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.497,-0.060,+0.150) r=0.05m +[headless_play] t= 0.90s step= 45 trunk_z= 115.7mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.539,-0.062,+0.150) r=0.05m +[headless_play] t= 1.00s step= 50 trunk_z= 115.5mm grav_b=(-0.04,-0.00,-1.00) ball=(+0.581,-0.063,+0.150) r=0.05m +[headless_play] t= 1.10s step= 55 trunk_z= 115.4mm grav_b=(-0.03,+0.00,-1.00) ball=(+0.624,-0.064,+0.150) r=0.05m +[headless_play] t= 1.20s step= 60 trunk_z= 116.6mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.666,-0.065,+0.150) r=0.05m +[headless_play] t= 1.30s step= 65 trunk_z= 119.4mm grav_b=(+0.05,+0.02,-1.00) ball=(+0.708,-0.066,+0.150) r=0.05m +[headless_play] t= 1.40s step= 70 trunk_z= 114.5mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.750,-0.067,+0.150) r=0.07m +[headless_play] t= 1.50s step= 75 trunk_z= 114.7mm grav_b=(-0.01,-0.01,-1.00) ball=(+0.792,-0.068,+0.150) r=0.07m +[headless_play] t= 1.60s step= 80 trunk_z= 114.7mm grav_b=(-0.05,-0.01,-1.00) ball=(+0.834,-0.069,+0.150) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(-0.04,+0.00,-1.00) ball=(+0.876,-0.071,+0.150) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 114.2mm grav_b=(-0.03,+0.00,-1.00) ball=(+0.918,-0.072,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.960,-0.073,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 114.4mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.002,-0.074,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 115.7mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.044,-0.075,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.086,-0.076,+0.150) r=0.07m +[headless_play] t= 2.30s step= 115 trunk_z= 114.1mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.128,-0.077,+0.150) r=0.07m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(-0.03,+0.00,-1.00) ball=(+1.170,-0.078,+0.150) r=0.07m +[headless_play] t= 2.50s step= 125 trunk_z= 114.1mm grav_b=(-0.03,+0.00,-1.00) ball=(+1.212,-0.080,+0.150) r=0.07m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.254,-0.081,+0.150) r=0.07m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.296,-0.082,+0.150) r=0.07m +[headless_play] t= 2.80s step= 140 trunk_z= 115.9mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.338,-0.083,+0.150) r=0.07m +[headless_play] t= 2.90s step= 145 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.380,-0.084,+0.150) r=0.07m +[headless_play] t= 3.00s step= 150 trunk_z= 114.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.422,-0.085,+0.150) r=0.07m +[headless_play] t= 3.10s step= 155 trunk_z= 114.7mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.464,-0.086,+0.150) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 114.6mm grav_b=(-0.04,+0.00,-1.00) ball=(+1.506,-0.087,+0.150) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 114.5mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.548,-0.088,+0.150) r=0.07m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.590,-0.090,+0.150) r=0.07m +[headless_play] t= 3.50s step= 175 trunk_z= 114.5mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.632,-0.091,+0.150) r=0.07m +[headless_play] t= 3.60s step= 180 trunk_z= 115.0mm grav_b=(-0.04,-0.00,-1.00) ball=(+1.654,-0.092,+0.150) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 115.0mm grav_b=(-0.05,+0.00,-1.00) ball=(+1.652,-0.095,+0.150) r=0.07m +[headless_play] t= 3.80s step= 190 trunk_z= 114.8mm grav_b=(-0.05,+0.00,-1.00) ball=(+1.649,-0.097,+0.150) r=0.07m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(-0.04,+0.00,-1.00) ball=(+1.646,-0.100,+0.150) r=0.07m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.644,-0.102,+0.150) r=0.07m +[headless_play] t= 4.10s step= 205 trunk_z= 114.4mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.641,-0.105,+0.150) r=0.07m +[headless_play] t= 4.20s step= 210 trunk_z= 114.9mm grav_b=(-0.06,+0.01,-1.00) ball=(+1.638,-0.107,+0.150) r=0.06m +[headless_play] t= 4.30s step= 215 trunk_z= 115.2mm grav_b=(-0.06,+0.01,-1.00) ball=(+1.635,-0.110,+0.150) r=0.06m +[headless_play] t= 4.40s step= 220 trunk_z= 115.9mm grav_b=(-0.04,+0.02,-1.00) ball=(+1.633,-0.112,+0.150) r=0.06m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.630,-0.115,+0.150) r=0.07m +[headless_play] t= 4.60s step= 230 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+1.627,-0.117,+0.150) r=0.09m +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.624,-0.120,+0.150) r=0.09m +[headless_play] t= 4.80s step= 240 trunk_z= 114.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.622,-0.122,+0.150) r=0.08m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.619,-0.125,+0.150) r=0.08m +[headless_play] t= 5.00s step= 250 trunk_z= 113.9mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.616,-0.127,+0.150) r=0.08m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.613,-0.130,+0.150) r=0.08m +[headless_play] t= 5.20s step= 260 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.611,-0.132,+0.150) r=0.08m +[headless_play] t= 5.30s step= 265 trunk_z= 113.3mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.608,-0.135,+0.150) r=0.08m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.605,-0.137,+0.150) r=0.08m +[headless_play] t= 5.50s step= 275 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.602,-0.140,+0.150) r=0.08m +[headless_play] t= 5.60s step= 280 trunk_z= 115.4mm grav_b=(-0.07,+0.01,-1.00) ball=(+1.600,-0.142,+0.150) r=0.08m +[headless_play] t= 5.70s step= 285 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00) ball=(+1.597,-0.145,+0.150) r=0.08m +[headless_play] t= 5.80s step= 290 trunk_z= 107.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+1.594,-0.147,+0.150) r=0.11m +[headless_play] t= 5.90s step= 295 trunk_z= 112.0mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.591,-0.150,+0.150) r=0.12m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.2mm grav_b=(-0.04,+0.04,-1.00) ball=(+0.195,-0.048,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(-0.10,+0.06,-0.99) ball=(+0.201,-0.050,+0.150) r=0.00m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..ea5af5ce90481e5567d2a9cf1c97d84e17bd1754 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t7.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.7mm grav_b=(+0.02,+0.04,-1.00) root_w=(-0.000,+0.000,+0.111) ball=(+0.218,-0.039,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 111.8mm grav_b=(+0.02,+0.04,-1.00) ball=(+0.218,-0.039,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(-0.05,+0.05,-1.00) ball=(+0.218,-0.039,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 115.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.246,-0.040,+0.153) r=0.02m +[headless_play] t= 0.30s step= 15 trunk_z= 111.8mm grav_b=(-0.04,+0.08,-1.00) ball=(+0.280,-0.038,+0.150) r=0.05m +[headless_play] t= 0.40s step= 20 trunk_z= 113.8mm grav_b=(-0.03,+0.03,-1.00) ball=(+0.315,-0.035,+0.150) r=0.06m +[headless_play] t= 0.50s step= 25 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.349,-0.033,+0.150) r=0.06m +[headless_play] t= 0.60s step= 30 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.384,-0.030,+0.150) r=0.06m +[headless_play] t= 0.70s step= 35 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.419,-0.028,+0.150) r=0.06m +[headless_play] t= 0.80s step= 40 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.453,-0.026,+0.150) r=0.06m +[headless_play] t= 0.90s step= 45 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.488,-0.023,+0.150) r=0.06m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(+0.06,-0.00,-1.00) ball=(+0.522,-0.021,+0.150) r=0.06m +[headless_play] t= 1.10s step= 55 trunk_z= 117.3mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.557,-0.019,+0.150) r=0.06m +[headless_play] t= 1.20s step= 60 trunk_z= 115.4mm grav_b=(-0.00,-0.01,-1.00) ball=(+0.592,-0.016,+0.150) r=0.07m +[headless_play] t= 1.30s step= 65 trunk_z= 114.4mm grav_b=(-0.07,-0.00,-1.00) ball=(+0.626,-0.014,+0.150) r=0.08m +[headless_play] t= 1.40s step= 70 trunk_z= 114.8mm grav_b=(-0.05,+0.00,-1.00) ball=(+0.661,-0.011,+0.150) r=0.08m +[headless_play] t= 1.50s step= 75 trunk_z= 114.6mm grav_b=(-0.05,+0.01,-1.00) ball=(+0.696,-0.009,+0.150) r=0.08m +[headless_play] t= 1.60s step= 80 trunk_z= 114.6mm grav_b=(-0.06,+0.01,-1.00) ball=(+0.730,-0.007,+0.150) r=0.07m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(-0.07,+0.01,-1.00) ball=(+0.765,-0.004,+0.150) r=0.07m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(-0.08,+0.01,-1.00) ball=(+0.799,-0.002,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 116.6mm grav_b=(-0.07,+0.04,-1.00) ball=(+0.834,+0.000,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 115.9mm grav_b=(-0.03,+0.07,-1.00) ball=(+0.869,+0.003,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 113.2mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.903,+0.005,+0.150) r=0.08m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.938,+0.008,+0.150) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 113.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.973,+0.010,+0.150) r=0.08m +[headless_play] t= 2.40s step= 120 trunk_z= 113.9mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.007,+0.012,+0.150) r=0.08m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.042,+0.015,+0.150) r=0.08m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.076,+0.017,+0.150) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.111,+0.019,+0.150) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 113.7mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.146,+0.022,+0.150) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.180,+0.024,+0.150) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 114.1mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.215,+0.027,+0.150) r=0.08m +[headless_play] t= 3.10s step= 155 trunk_z= 114.2mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.249,+0.029,+0.150) r=0.07m +[headless_play] t= 3.20s step= 160 trunk_z= 114.6mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.284,+0.031,+0.150) r=0.07m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.319,+0.034,+0.150) r=0.07m +[headless_play] t= 3.40s step= 170 trunk_z= 113.9mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.353,+0.036,+0.150) r=0.08m +[headless_play] t= 3.50s step= 175 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.388,+0.038,+0.150) r=0.08m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(-0.06,+0.00,-1.00) ball=(+1.423,+0.041,+0.150) r=0.07m +[headless_play] t= 3.70s step= 185 trunk_z= 118.1mm grav_b=(-0.06,+0.02,-1.00) ball=(+1.457,+0.043,+0.150) r=0.07m +[headless_play] t= 3.80s step= 190 trunk_z= 115.3mm grav_b=(-0.04,+0.04,-1.00) ball=(+1.492,+0.046,+0.150) r=0.09m +[headless_play] t= 3.90s step= 195 trunk_z= 111.1mm grav_b=(-0.00,+0.03,-1.00) ball=(+1.526,+0.048,+0.150) r=0.11m +[headless_play] t= 4.00s step= 200 trunk_z= 113.0mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.561,+0.050,+0.150) r=0.11m +[headless_play] t= 4.10s step= 205 trunk_z= 112.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.596,+0.053,+0.150) r=0.11m +[headless_play] t= 4.20s step= 210 trunk_z= 112.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.630,+0.055,+0.150) r=0.10m +[headless_play] t= 4.30s step= 215 trunk_z= 112.8mm grav_b=(+0.00,+0.00,-1.00) ball=(+1.653,+0.057,+0.150) r=0.10m +[headless_play] t= 4.40s step= 220 trunk_z= 113.1mm grav_b=(+0.04,-0.02,-1.00) ball=(+1.652,+0.057,+0.150) r=0.11m +[headless_play] t= 4.50s step= 225 trunk_z= 114.3mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.649,+0.058,+0.150) r=0.11m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.647,+0.058,+0.150) r=0.11m +[headless_play] t= 4.70s step= 235 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.644,+0.059,+0.150) r=0.10m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.642,+0.059,+0.150) r=0.10m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.640,+0.060,+0.150) r=0.10m +[headless_play] t= 5.00s step= 250 trunk_z= 113.8mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.637,+0.060,+0.150) r=0.10m +[headless_play] t= 5.10s step= 255 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.635,+0.061,+0.150) r=0.10m +[headless_play] t= 5.20s step= 260 trunk_z= 116.5mm grav_b=(+0.02,-0.03,-1.00) ball=(+1.633,+0.061,+0.150) r=0.11m +[headless_play] t= 5.30s step= 265 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00) ball=(+1.630,+0.062,+0.150) r=0.11m +[headless_play] t= 5.40s step= 270 trunk_z= 115.6mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.628,+0.062,+0.150) r=0.11m +[headless_play] t= 5.50s step= 275 trunk_z= 115.5mm grav_b=(-0.04,+0.01,-1.00) ball=(+1.625,+0.063,+0.150) r=0.11m +[headless_play] t= 5.60s step= 280 trunk_z= 115.3mm grav_b=(-0.03,+0.01,-1.00) ball=(+1.623,+0.063,+0.150) r=0.11m +[headless_play] t= 5.70s step= 285 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.621,+0.064,+0.150) r=0.11m +[headless_play] t= 5.80s step= 290 trunk_z= 114.8mm grav_b=(-0.01,+0.01,-1.00) ball=(+1.618,+0.064,+0.150) r=0.11m +[headless_play] t= 5.90s step= 295 trunk_z= 114.9mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.616,+0.065,+0.150) r=0.11m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.3mm grav_b=(-0.03,+0.05,-1.00) ball=(+0.214,-0.040,+0.150) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.6mm grav_b=(-0.10,+0.11,-0.99) ball=(+0.214,-0.040,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..1f59f64269492d2709c6e7d6834b50f1dcf42da4 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t8.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.2mm grav_b=(-0.08,-0.06,-1.00) root_w=(-0.000,+0.000,+0.114) ball=(+0.218,-0.045,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 114.9mm grav_b=(-0.08,-0.05,-0.99) ball=(+0.218,-0.045,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.4mm grav_b=(-0.07,+0.07,-0.99) ball=(+0.218,-0.045,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 117.4mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.249,-0.050,+0.162) r=0.01m +[headless_play] t= 0.30s step= 15 trunk_z= 113.8mm grav_b=(-0.04,+0.09,-1.00) ball=(+0.288,-0.053,+0.149) r=0.03m +[headless_play] t= 0.40s step= 20 trunk_z= 113.2mm grav_b=(-0.01,+0.05,-1.00) ball=(+0.329,-0.054,+0.150) r=0.04m +[headless_play] t= 0.50s step= 25 trunk_z= 113.2mm grav_b=(+0.03,+0.04,-1.00) ball=(+0.370,-0.055,+0.150) r=0.04m +[headless_play] t= 0.60s step= 30 trunk_z= 113.3mm grav_b=(+0.02,+0.03,-1.00) ball=(+0.410,-0.055,+0.150) r=0.04m +[headless_play] t= 0.70s step= 35 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.451,-0.056,+0.150) r=0.04m +[headless_play] t= 0.80s step= 40 trunk_z= 113.9mm grav_b=(+0.02,+0.01,-1.00) ball=(+0.491,-0.057,+0.150) r=0.04m +[headless_play] t= 0.90s step= 45 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.532,-0.058,+0.150) r=0.04m +[headless_play] t= 1.00s step= 50 trunk_z= 114.0mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.573,-0.059,+0.150) r=0.04m +[headless_play] t= 1.10s step= 55 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.613,-0.059,+0.150) r=0.04m +[headless_play] t= 1.20s step= 60 trunk_z= 113.8mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.654,-0.060,+0.150) r=0.04m +[headless_play] t= 1.30s step= 65 trunk_z= 113.9mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.694,-0.061,+0.150) r=0.04m +[headless_play] t= 1.40s step= 70 trunk_z= 114.5mm grav_b=(-0.02,+0.02,-1.00) ball=(+0.735,-0.062,+0.150) r=0.03m +[headless_play] t= 1.50s step= 75 trunk_z= 117.0mm grav_b=(-0.05,+0.03,-1.00) ball=(+0.776,-0.063,+0.150) r=0.03m +[headless_play] t= 1.60s step= 80 trunk_z= 118.4mm grav_b=(-0.02,+0.05,-1.00) ball=(+0.816,-0.064,+0.150) r=0.03m +[headless_play] t= 1.70s step= 85 trunk_z= 106.6mm grav_b=(+0.05,+0.03,-1.00) ball=(+0.857,-0.064,+0.150) r=0.06m +[headless_play] t= 1.80s step= 90 trunk_z= 111.0mm grav_b=(+0.06,+0.02,-1.00) ball=(+0.898,-0.065,+0.150) r=0.07m +[headless_play] t= 1.90s step= 95 trunk_z= 112.2mm grav_b=(+0.05,+0.02,-1.00) ball=(+0.938,-0.066,+0.150) r=0.07m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.10,+0.02,-0.99) ball=(+0.979,-0.067,+0.150) r=0.07m +[headless_play] t= 2.10s step= 105 trunk_z= 118.2mm grav_b=(+0.09,+0.04,-1.00) ball=(+1.019,-0.068,+0.150) r=0.07m +[headless_play] t= 2.20s step= 110 trunk_z= 112.3mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.060,-0.068,+0.150) r=0.08m +[headless_play] t= 2.30s step= 115 trunk_z= 110.0mm grav_b=(-0.03,+0.00,-1.00) ball=(+1.101,-0.069,+0.150) r=0.09m +[headless_play] t= 2.40s step= 120 trunk_z= 114.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+1.141,-0.070,+0.150) r=0.09m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.02,+0.03,-1.00) ball=(+1.182,-0.071,+0.150) r=0.09m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.222,-0.072,+0.150) r=0.08m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.00,+0.03,-1.00) ball=(+1.263,-0.073,+0.150) r=0.08m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(-0.00,+0.02,-1.00) ball=(+1.304,-0.073,+0.150) r=0.08m +[headless_play] t= 2.90s step= 145 trunk_z= 114.2mm grav_b=(+0.03,+0.03,-1.00) ball=(+1.344,-0.074,+0.150) r=0.08m +[headless_play] t= 3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.09,+0.03,-1.00) ball=(+1.385,-0.075,+0.150) r=0.09m +[headless_play] t= 3.10s step= 155 trunk_z= 119.8mm grav_b=(+0.04,+0.02,-1.00) ball=(+1.425,-0.076,+0.150) r=0.10m +[headless_play] t= 3.20s step= 160 trunk_z= 108.1mm grav_b=(-0.02,-0.02,-1.00) ball=(+1.466,-0.077,+0.150) r=0.12m +[headless_play] t= 3.30s step= 165 trunk_z= 114.1mm grav_b=(-0.05,-0.01,-1.00) ball=(+1.507,-0.078,+0.150) r=0.12m +[headless_play] t= 3.40s step= 170 trunk_z= 114.5mm grav_b=(+0.01,+0.03,-1.00) ball=(+1.547,-0.078,+0.150) r=0.12m +[headless_play] t= 3.50s step= 175 trunk_z= 116.6mm grav_b=(-0.09,+0.02,-1.00) ball=(+1.588,-0.079,+0.150) r=0.11m +[headless_play] t= 3.60s step= 180 trunk_z= 119.1mm grav_b=(-0.05,-0.03,-1.00) ball=(+1.628,-0.080,+0.150) r=0.14m +[headless_play] t= 3.70s step= 185 trunk_z= 89.6mm grav_b=(+0.02,-0.02,-1.00) ball=(+1.655,-0.082,+0.150) r=0.17m +[headless_play] t= 3.80s step= 190 trunk_z= 104.0mm grav_b=(+0.09,+0.09,-0.99) ball=(+1.653,-0.085,+0.150) r=0.17m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.01,+0.06,-1.00) ball=(+1.650,-0.088,+0.150) r=0.16m +[headless_play] t= 4.00s step= 200 trunk_z= 112.3mm grav_b=(+0.00,+0.03,-1.00) ball=(+1.646,-0.091,+0.150) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 112.0mm grav_b=(+0.03,+0.02,-1.00) ball=(+1.643,-0.094,+0.150) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 112.0mm grav_b=(+0.02,+0.02,-1.00) ball=(+1.640,-0.097,+0.150) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 112.2mm grav_b=(+0.01,+0.02,-1.00) ball=(+1.637,-0.100,+0.150) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.00,-0.00,-1.00) ball=(+1.633,-0.103,+0.150) r=0.17m +[headless_play] t= 4.50s step= 225 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.630,-0.106,+0.150) r=0.17m +[headless_play] t= 4.60s step= 230 trunk_z= 113.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.627,-0.109,+0.150) r=0.17m +[headless_play] t= 4.70s step= 235 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.624,-0.112,+0.150) r=0.17m +[headless_play] t= 4.80s step= 240 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.620,-0.115,+0.150) r=0.17m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.617,-0.118,+0.150) r=0.17m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.614,-0.121,+0.150) r=0.16m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(-0.00,+0.00,-1.00) ball=(+1.610,-0.124,+0.150) r=0.17m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.607,-0.128,+0.150) r=0.17m +[headless_play] t= 5.30s step= 265 trunk_z= 114.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.604,-0.131,+0.150) r=0.17m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.02,+0.01,-1.00) ball=(+1.601,-0.134,+0.150) r=0.17m +[headless_play] t= 5.50s step= 275 trunk_z= 114.5mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.597,-0.137,+0.150) r=0.17m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.594,-0.140,+0.150) r=0.17m +[headless_play] t= 5.70s step= 285 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.591,-0.143,+0.150) r=0.17m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.588,-0.146,+0.150) r=0.17m +[headless_play] t= 5.90s step= 295 trunk_z= 115.1mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.584,-0.149,+0.150) r=0.17m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.6mm grav_b=(+0.05,+0.01,-1.00) ball=(+0.200,-0.042,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 123.0mm grav_b=(-0.01,+0.06,-1.00) ball=(+0.204,-0.043,+0.150) r=0.01m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..e7623e9e6ad32fff3711c21bac4131f73e8585f2 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-b-2026-10-24/bksb-t9.log @@ -0,0 +1,70 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.6mm grav_b=(+0.01,+0.07,-1.00) root_w=(-0.000,+0.000,+0.116) ball=(+0.208,-0.034,+0.150) +[headless_play] t= 0.00s step= 0 trunk_z= 116.2mm grav_b=(+0.01,+0.07,-1.00) ball=(+0.208,-0.034,+0.150) r=0.00m +[headless_play] t= 0.10s step= 5 trunk_z= 123.5mm grav_b=(+0.04,+0.10,-0.99) ball=(+0.211,-0.036,+0.150) r=0.01m +[headless_play] t= 0.20s step= 10 trunk_z= 113.7mm grav_b=(+0.13,+0.03,-0.99) ball=(+0.250,-0.036,+0.161) r=0.03m +[headless_play] t= 0.30s step= 15 trunk_z= 113.6mm grav_b=(+0.08,+0.08,-0.99) ball=(+0.293,-0.035,+0.149) r=0.06m +[headless_play] t= 0.40s step= 20 trunk_z= 117.0mm grav_b=(+0.12,+0.03,-0.99) ball=(+0.335,-0.032,+0.150) r=0.07m +[headless_play] t= 0.50s step= 25 trunk_z= 119.0mm grav_b=(+0.08,-0.00,-1.00) ball=(+0.376,-0.029,+0.150) r=0.08m +[headless_play] t= 0.60s step= 30 trunk_z= 109.1mm grav_b=(+0.06,-0.02,-1.00) ball=(+0.418,-0.026,+0.150) r=0.10m +[headless_play] t= 0.70s step= 35 trunk_z= 113.4mm grav_b=(+0.05,-0.01,-1.00) ball=(+0.460,-0.024,+0.150) r=0.11m +[headless_play] t= 0.80s step= 40 trunk_z= 119.0mm grav_b=(+0.12,-0.02,-0.99) ball=(+0.502,-0.021,+0.150) r=0.11m +[headless_play] t= 0.90s step= 45 trunk_z= 119.2mm grav_b=(+0.08,-0.03,-1.00) ball=(+0.543,-0.018,+0.150) r=0.13m +[headless_play] t= 1.00s step= 50 trunk_z= 107.3mm grav_b=(+0.07,-0.01,-1.00) ball=(+0.585,-0.015,+0.150) r=0.15m +[headless_play] t= 1.10s step= 55 trunk_z= 112.0mm grav_b=(+0.06,-0.03,-1.00) ball=(+0.627,-0.013,+0.150) r=0.15m +[headless_play] t= 1.20s step= 60 trunk_z= 114.3mm grav_b=(+0.05,-0.00,-1.00) ball=(+0.668,-0.010,+0.150) r=0.16m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.710,-0.007,+0.150) r=0.16m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.752,-0.004,+0.150) r=0.16m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.793,-0.002,+0.150) r=0.16m +[headless_play] t= 1.60s step= 80 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.835,+0.001,+0.150) r=0.15m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.877,+0.004,+0.150) r=0.15m +[headless_play] t= 1.80s step= 90 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.919,+0.007,+0.150) r=0.15m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.960,+0.009,+0.150) r=0.15m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.002,+0.012,+0.150) r=0.15m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.044,+0.015,+0.150) r=0.15m +[headless_play] t= 2.20s step= 110 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.085,+0.018,+0.150) r=0.15m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.127,+0.020,+0.150) r=0.15m +[headless_play] t= 2.40s step= 120 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.169,+0.023,+0.150) r=0.15m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.211,+0.026,+0.150) r=0.15m +[headless_play] t= 2.60s step= 130 trunk_z= 114.1mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.252,+0.029,+0.150) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 114.1mm grav_b=(+0.05,-0.01,-1.00) ball=(+1.294,+0.031,+0.150) r=0.16m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(+0.04,-0.01,-1.00) ball=(+1.336,+0.034,+0.150) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.377,+0.037,+0.150) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.419,+0.040,+0.150) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.461,+0.042,+0.150) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.503,+0.045,+0.150) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.544,+0.048,+0.150) r=0.16m +[headless_play] t= 3.40s step= 170 trunk_z= 114.6mm grav_b=(-0.02,+0.01,-1.00) ball=(+1.586,+0.051,+0.150) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 117.7mm grav_b=(-0.02,+0.04,-1.00) ball=(+1.628,+0.053,+0.150) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 115.6mm grav_b=(+0.04,+0.06,-1.00) ball=(+1.655,+0.055,+0.150) r=0.18m +[headless_play] t= 3.70s step= 185 trunk_z= 109.7mm grav_b=(+0.09,+0.05,-0.99) ball=(+1.653,+0.055,+0.150) r=0.21m +[headless_play] t= 3.80s step= 190 trunk_z= 113.4mm grav_b=(+0.11,-0.03,-0.99) ball=(+1.650,+0.055,+0.150) r=0.21m +[headless_play] t= 3.90s step= 195 trunk_z= 115.0mm grav_b=(+0.11,-0.00,-0.99) ball=(+1.646,+0.054,+0.150) r=0.21m +[headless_play] t= 4.00s step= 200 trunk_z= 118.4mm grav_b=(+0.11,+0.00,-0.99) ball=(+1.643,+0.054,+0.150) r=0.21m +[headless_play] t= 4.10s step= 205 trunk_z= 110.6mm grav_b=(+0.07,-0.02,-1.00) ball=(+1.640,+0.053,+0.150) r=0.23m +[headless_play] t= 4.20s step= 210 trunk_z= 112.6mm grav_b=(+0.07,+0.02,-1.00) ball=(+1.637,+0.053,+0.150) r=0.24m +[headless_play] t= 4.30s step= 215 trunk_z= 114.6mm grav_b=(+0.08,-0.02,-1.00) ball=(+1.634,+0.053,+0.150) r=0.25m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(+0.02,-0.03,-1.00) ball=(+1.630,+0.052,+0.150) r=0.25m +[headless_play] t= 4.50s step= 225 trunk_z= 114.1mm grav_b=(+0.04,+0.00,-1.00) ball=(+1.627,+0.052,+0.150) r=0.25m +[headless_play] t= 4.60s step= 230 trunk_z= 113.4mm grav_b=(+0.05,+0.02,-1.00) ball=(+1.624,+0.051,+0.150) r=0.24m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.05,+0.01,-1.00) ball=(+1.621,+0.051,+0.150) r=0.24m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.617,+0.051,+0.150) r=0.24m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.614,+0.050,+0.150) r=0.24m +[headless_play] t= 5.00s step= 250 trunk_z= 115.1mm grav_b=(+0.05,+0.03,-1.00) ball=(+1.611,+0.050,+0.150) r=0.24m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(+0.04,+0.02,-1.00) ball=(+1.608,+0.049,+0.150) r=0.24m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.604,+0.049,+0.150) r=0.24m +[headless_play] t= 5.30s step= 265 trunk_z= 114.5mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.601,+0.049,+0.150) r=0.24m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.598,+0.048,+0.150) r=0.24m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.595,+0.048,+0.150) r=0.24m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.591,+0.048,+0.150) r=0.24m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.03,+0.01,-1.00) ball=(+1.588,+0.047,+0.150) r=0.24m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.585,+0.047,+0.150) r=0.24m +[headless_play] t= 5.90s step= 295 trunk_z= 114.1mm grav_b=(+0.04,+0.01,-1.00) ball=(+1.582,+0.046,+0.150) r=0.24m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.5mm grav_b=(+0.02,+0.03,-1.00) ball=(+0.194,-0.054,+0.149) r=0.00m +[headless_play] t= 6.10s step= 305 trunk_z= 120.6mm grav_b=(-0.00,+0.03,-1.00) ball=(+0.200,-0.056,+0.150) r=0.00m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..693fb2ba8aa2736467afb41e5c464053c48b264f --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t1.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.3mm grav_b=(-0.08,-0.05,-1.00) root_w=(-0.170,-0.368,+0.119) ball=(-0.220,-0.454,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 117.1mm grav_b=(-0.09,-0.05,-1.00) ball=(-0.220,-0.454,+0.035) r=0.41m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.05,+0.11,-0.99) ball=(-0.220,-0.454,+0.035) r=0.40m +[headless_play] t= 0.20s step= 10 trunk_z= 127.4mm grav_b=(-0.32,+0.20,-0.93) ball=(-0.241,-0.497,+0.051) r=0.41m +[headless_play] t= 0.30s step= 15 trunk_z= 131.5mm grav_b=(-0.64,+0.25,-0.72) ball=(-0.309,-0.620,+0.036) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 63.6mm grav_b=(-0.78,+0.05,-0.62) ball=(-0.377,-0.723,+0.034) r=0.50m +[headless_play] RESET at t= 0.46s step= 23 (env termination, not a recovery) +[headless_play] t= 0.50s step= 25 trunk_z= 115.1mm grav_b=(+0.07,+0.04,-1.00) ball=(-0.231,-0.233,+0.035) r=0.40m +[headless_play] t= 0.60s step= 30 trunk_z= 124.7mm grav_b=(+0.05,+0.14,-0.99) ball=(-0.231,-0.233,+0.035) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 128.5mm grav_b=(-0.26,+0.21,-0.94) ball=(-0.245,-0.117,+0.055) r=0.36m +[headless_play] t= 0.80s step= 40 trunk_z= 115.3mm grav_b=(-0.17,+0.13,-0.98) ball=(-0.261,+0.034,+0.033) r=0.33m +[headless_play] t= 0.90s step= 45 trunk_z= 116.1mm grav_b=(-0.16,+0.21,-0.96) ball=(-0.270,+0.164,+0.035) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 115.7mm grav_b=(+0.01,+0.15,-0.99) ball=(-0.278,+0.295,+0.035) r=0.31m +[headless_play] t= 1.10s step= 55 trunk_z= 112.2mm grav_b=(+0.03,+0.01,-1.00) ball=(-0.287,+0.426,+0.035) r=0.29m +[headless_play] t= 1.20s step= 60 trunk_z= 120.3mm grav_b=(-0.03,-0.06,-1.00) ball=(-0.296,+0.556,+0.035) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 114.5mm grav_b=(+0.00,-0.02,-1.00) ball=(-0.305,+0.687,+0.035) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 114.0mm grav_b=(-0.01,+0.00,-1.00) ball=(-0.314,+0.818,+0.035) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 114.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.323,+0.949,+0.035) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 114.2mm grav_b=(-0.01,+0.01,-1.00) ball=(-0.332,+1.079,+0.035) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.340,+1.210,+0.035) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 114.1mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.349,+1.341,+0.035) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.358,+1.471,+0.035) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 114.3mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.367,+1.602,+0.035) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 114.1mm grav_b=(-0.01,+0.01,-1.00) ball=(-0.376,+1.733,+0.035) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.385,+1.863,+0.035) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.394,+1.994,+0.035) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.402,+2.125,+0.035) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.411,+2.255,+0.035) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.420,+2.386,+0.035) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 114.2mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.429,+2.517,+0.035) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.438,+2.647,+0.035) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.447,+2.778,+0.035) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.456,+2.909,+0.035) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.464,+3.039,+0.035) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 114.3mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.473,+3.170,+0.035) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.482,+3.301,+0.035) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.491,+3.431,+0.035) r=0.28m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.500,+3.562,+0.035) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.509,+3.693,+0.035) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.518,+3.824,+0.035) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 114.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.526,+3.954,+0.035) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 114.4mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.535,+4.085,+0.035) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.544,+4.216,+0.035) r=0.28m +[headless_play] t= 4.10s step= 205 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.553,+4.346,+0.035) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.562,+4.477,+0.035) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.571,+4.608,+0.035) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.580,+4.738,+0.035) r=0.28m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.589,+4.869,+0.035) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.597,+5.000,+0.035) r=0.28m +[headless_play] t= 4.70s step= 235 trunk_z= 114.5mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.606,+5.130,+0.035) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.615,+5.261,+0.035) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.624,+5.392,+0.035) r=0.28m +[headless_play] t= 5.00s step= 250 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.633,+5.522,+0.035) r=0.28m +[headless_play] t= 5.10s step= 255 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.642,+5.653,+0.035) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.651,+5.784,+0.035) r=0.28m +[headless_play] t= 5.30s step= 265 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.659,+5.914,+0.035) r=0.28m +[headless_play] t= 5.40s step= 270 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.668,+6.045,+0.035) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 114.5mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.677,+6.176,+0.035) r=0.28m +[headless_play] t= 5.60s step= 280 trunk_z= 114.5mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.686,+6.306,+0.035) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 114.6mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.695,+6.437,+0.035) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 114.6mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.704,+6.568,+0.035) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 114.6mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.713,+6.699,+0.035) r=0.28m +[headless_play] t= 6.00s step= 300 trunk_z= 114.6mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.721,+6.829,+0.035) r=0.28m +[headless_play] t= 6.10s step= 305 trunk_z= 114.6mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.730,+6.960,+0.035) r=0.28m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..266549e4e54fd286e30368ecc06b77671c184c97 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t10.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.0mm grav_b=(-0.07,-0.08,-0.99) root_w=(+0.320,+0.408,+0.115) ball=(+0.345,+0.507,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 116.3mm grav_b=(-0.08,-0.08,-0.99) ball=(+0.345,+0.507,+0.035) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 122.1mm grav_b=(-0.06,+0.13,-0.99) ball=(+0.345,+0.507,+0.035) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 127.8mm grav_b=(-0.39,+0.28,-0.88) ball=(+0.353,+0.548,+0.047) r=0.52m +[headless_play] t= 0.30s step= 15 trunk_z= 131.5mm grav_b=(-0.52,+0.31,-0.80) ball=(+0.375,+0.657,+0.033) r=0.54m +[headless_play] t= 0.40s step= 20 trunk_z= 113.0mm grav_b=(-0.16,+0.09,-0.98) ball=(+0.402,+0.763,+0.035) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 115.1mm grav_b=(-0.17,+0.03,-0.99) ball=(+0.430,+0.869,+0.035) r=0.50m +[headless_play] t= 0.60s step= 30 trunk_z= 107.3mm grav_b=(-0.08,+0.00,-1.00) ball=(+0.457,+0.975,+0.035) r=0.47m +[headless_play] t= 0.70s step= 35 trunk_z= 111.5mm grav_b=(-0.05,-0.05,-1.00) ball=(+0.484,+1.081,+0.035) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 117.7mm grav_b=(-0.02,+0.06,-1.00) ball=(+0.512,+1.187,+0.035) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 118.2mm grav_b=(+0.00,+0.07,-1.00) ball=(+0.539,+1.293,+0.035) r=0.42m +[headless_play] t= 1.00s step= 50 trunk_z= 113.8mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.566,+1.399,+0.035) r=0.42m +[headless_play] t= 1.10s step= 55 trunk_z= 114.4mm grav_b=(-0.01,-0.00,-1.00) ball=(+0.593,+1.504,+0.035) r=0.42m +[headless_play] t= 1.20s step= 60 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.621,+1.610,+0.035) r=0.42m +[headless_play] t= 1.30s step= 65 trunk_z= 114.6mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.648,+1.716,+0.035) r=0.42m +[headless_play] t= 1.40s step= 70 trunk_z= 114.6mm grav_b=(-0.01,+0.01,-1.00) ball=(+0.675,+1.822,+0.035) r=0.42m +[headless_play] t= 1.50s step= 75 trunk_z= 114.6mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.703,+1.928,+0.035) r=0.42m +[headless_play] t= 1.60s step= 80 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.730,+2.034,+0.035) r=0.42m +[headless_play] t= 1.70s step= 85 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.757,+2.140,+0.035) r=0.42m +[headless_play] t= 1.80s step= 90 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.785,+2.246,+0.035) r=0.42m +[headless_play] t= 1.90s step= 95 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.812,+2.352,+0.035) r=0.42m +[headless_play] t= 2.00s step= 100 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.839,+2.458,+0.035) r=0.42m +[headless_play] t= 2.10s step= 105 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.866,+2.564,+0.035) r=0.42m +[headless_play] t= 2.20s step= 110 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.894,+2.670,+0.035) r=0.42m +[headless_play] t= 2.30s step= 115 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.921,+2.776,+0.035) r=0.42m +[headless_play] t= 2.40s step= 120 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.948,+2.882,+0.035) r=0.42m +[headless_play] t= 2.50s step= 125 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.976,+2.988,+0.035) r=0.42m +[headless_play] t= 2.60s step= 130 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.003,+3.094,+0.035) r=0.42m +[headless_play] t= 2.70s step= 135 trunk_z= 114.7mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.030,+3.200,+0.035) r=0.42m +[headless_play] t= 2.80s step= 140 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.057,+3.306,+0.035) r=0.42m +[headless_play] t= 2.90s step= 145 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.085,+3.412,+0.035) r=0.42m +[headless_play] t= 3.00s step= 150 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.112,+3.518,+0.035) r=0.42m +[headless_play] t= 3.10s step= 155 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.139,+3.624,+0.035) r=0.42m +[headless_play] t= 3.20s step= 160 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.167,+3.730,+0.035) r=0.42m +[headless_play] t= 3.30s step= 165 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.194,+3.836,+0.035) r=0.42m +[headless_play] t= 3.40s step= 170 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.221,+3.942,+0.035) r=0.42m +[headless_play] t= 3.50s step= 175 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.248,+4.048,+0.035) r=0.42m +[headless_play] t= 3.60s step= 180 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.276,+4.154,+0.035) r=0.42m +[headless_play] t= 3.70s step= 185 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.303,+4.259,+0.035) r=0.42m +[headless_play] t= 3.80s step= 190 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.330,+4.365,+0.035) r=0.42m +[headless_play] t= 3.90s step= 195 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.358,+4.471,+0.035) r=0.42m +[headless_play] t= 4.00s step= 200 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.385,+4.577,+0.035) r=0.42m +[headless_play] t= 4.10s step= 205 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.412,+4.683,+0.035) r=0.42m +[headless_play] t= 4.20s step= 210 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.440,+4.789,+0.035) r=0.42m +[headless_play] t= 4.30s step= 215 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.467,+4.895,+0.035) r=0.42m +[headless_play] t= 4.40s step= 220 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.494,+5.001,+0.035) r=0.42m +[headless_play] t= 4.50s step= 225 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.521,+5.107,+0.035) r=0.42m +[headless_play] t= 4.60s step= 230 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.549,+5.213,+0.035) r=0.42m +[headless_play] t= 4.70s step= 235 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.576,+5.319,+0.035) r=0.42m +[headless_play] t= 4.80s step= 240 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.603,+5.425,+0.035) r=0.42m +[headless_play] t= 4.90s step= 245 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.631,+5.531,+0.035) r=0.42m +[headless_play] t= 5.00s step= 250 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.658,+5.637,+0.035) r=0.42m +[headless_play] t= 5.10s step= 255 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.685,+5.743,+0.035) r=0.42m +[headless_play] t= 5.20s step= 260 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.712,+5.849,+0.035) r=0.42m +[headless_play] t= 5.30s step= 265 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.740,+5.955,+0.035) r=0.42m +[headless_play] t= 5.40s step= 270 trunk_z= 114.8mm grav_b=(-0.01,+0.00,-1.00) ball=(+1.767,+6.061,+0.035) r=0.42m +[headless_play] t= 5.50s step= 275 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.794,+6.167,+0.035) r=0.42m +[headless_play] t= 5.60s step= 280 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.822,+6.273,+0.035) r=0.42m +[headless_play] t= 5.70s step= 285 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.849,+6.379,+0.035) r=0.42m +[headless_play] t= 5.80s step= 290 trunk_z= 114.8mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.876,+6.485,+0.035) r=0.42m +[headless_play] t= 5.90s step= 295 trunk_z= 114.9mm grav_b=(-0.01,-0.00,-1.00) ball=(+1.903,+6.591,+0.035) r=0.42m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.1mm grav_b=(-0.09,+0.02,-1.00) ball=(+0.455,-0.122,+0.035) r=0.53m +[headless_play] t= 6.10s step= 305 trunk_z= 122.7mm grav_b=(-0.08,+0.18,-0.98) ball=(+0.455,-0.122,+0.035) r=0.55m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..0b4041f13bcada4c39cd34b320ce38a329775669 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t2.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.1mm grav_b=(-0.02,+0.02,-1.00) root_w=(+0.301,+0.062,+0.111) ball=(+0.389,+0.105,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 113.1mm grav_b=(-0.03,+0.02,-1.00) ball=(+0.389,+0.105,+0.035) r=0.31m +[headless_play] t= 0.10s step= 5 trunk_z= 121.9mm grav_b=(+0.01,+0.12,-0.99) ball=(+0.389,+0.105,+0.035) r=0.31m +[headless_play] t= 0.20s step= 10 trunk_z= 127.3mm grav_b=(-0.23,+0.18,-0.96) ball=(+0.449,+0.133,+0.051) r=0.32m +[headless_play] t= 0.30s step= 15 trunk_z= 132.1mm grav_b=(-0.64,+0.17,-0.75) ball=(+0.585,+0.194,+0.032) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 68.4mm grav_b=(-0.81,-0.04,-0.59) ball=(+0.709,+0.242,+0.035) r=0.43m +[headless_play] RESET at t= 0.46s step= 23 (env termination, not a recovery) +[headless_play] t= 0.50s step= 25 trunk_z= 116.7mm grav_b=(-0.01,-0.02,-1.00) ball=(-0.098,-0.582,+0.035) r=0.49m +[headless_play] t= 0.60s step= 30 trunk_z= 125.4mm grav_b=(-0.01,+0.12,-0.99) ball=(-0.098,-0.582,+0.035) r=0.48m +[headless_play] t= 0.70s step= 35 trunk_z= 132.7mm grav_b=(-0.37,+0.25,-0.89) ball=(-0.127,-0.681,+0.046) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 131.0mm grav_b=(-0.56,+0.21,-0.80) ball=(-0.166,-0.818,+0.034) r=0.57m +[headless_play] t= 0.90s step= 45 trunk_z= 103.7mm grav_b=(-0.11,+0.01,-0.99) ball=(-0.202,-0.947,+0.035) r=0.54m +[headless_play] t= 1.00s step= 50 trunk_z= 104.7mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.238,-1.077,+0.035) r=0.53m +[headless_play] t= 1.10s step= 55 trunk_z= 112.8mm grav_b=(+0.04,+0.01,-1.00) ball=(-0.273,-1.206,+0.035) r=0.53m +[headless_play] t= 1.20s step= 60 trunk_z= 116.0mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.309,-1.335,+0.035) r=0.54m +[headless_play] t= 1.30s step= 65 trunk_z= 112.4mm grav_b=(-0.01,-0.06,-1.00) ball=(-0.345,-1.465,+0.035) r=0.54m +[headless_play] t= 1.40s step= 70 trunk_z= 113.4mm grav_b=(-0.00,-0.01,-1.00) ball=(-0.380,-1.594,+0.035) r=0.54m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.416,-1.723,+0.035) r=0.54m +[headless_play] t= 1.60s step= 80 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.452,-1.853,+0.035) r=0.54m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.487,-1.982,+0.035) r=0.54m +[headless_play] t= 1.80s step= 90 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.523,-2.111,+0.035) r=0.54m +[headless_play] t= 1.90s step= 95 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.559,-2.241,+0.035) r=0.54m +[headless_play] t= 2.00s step= 100 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.594,-2.370,+0.035) r=0.54m +[headless_play] t= 2.10s step= 105 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.630,-2.499,+0.035) r=0.54m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.666,-2.629,+0.035) r=0.54m +[headless_play] t= 2.30s step= 115 trunk_z= 114.2mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.701,-2.758,+0.035) r=0.54m +[headless_play] t= 2.40s step= 120 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.737,-2.887,+0.035) r=0.54m +[headless_play] t= 2.50s step= 125 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.773,-3.017,+0.035) r=0.54m +[headless_play] t= 2.60s step= 130 trunk_z= 114.2mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.808,-3.146,+0.035) r=0.54m +[headless_play] t= 2.70s step= 135 trunk_z= 114.3mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.844,-3.275,+0.035) r=0.54m +[headless_play] t= 2.80s step= 140 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.880,-3.405,+0.035) r=0.54m +[headless_play] t= 2.90s step= 145 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.915,-3.534,+0.035) r=0.54m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.951,-3.663,+0.035) r=0.54m +[headless_play] t= 3.10s step= 155 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.987,-3.793,+0.035) r=0.54m +[headless_play] t= 3.20s step= 160 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.022,-3.922,+0.035) r=0.54m +[headless_play] t= 3.30s step= 165 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.058,-4.051,+0.035) r=0.54m +[headless_play] t= 3.40s step= 170 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.094,-4.181,+0.035) r=0.54m +[headless_play] t= 3.50s step= 175 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.129,-4.310,+0.035) r=0.54m +[headless_play] t= 3.60s step= 180 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.165,-4.439,+0.035) r=0.54m +[headless_play] t= 3.70s step= 185 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.201,-4.569,+0.035) r=0.54m +[headless_play] t= 3.80s step= 190 trunk_z= 114.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.236,-4.698,+0.035) r=0.54m +[headless_play] t= 3.90s step= 195 trunk_z= 114.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.272,-4.827,+0.035) r=0.54m +[headless_play] t= 4.00s step= 200 trunk_z= 114.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.308,-4.957,+0.035) r=0.54m +[headless_play] t= 4.10s step= 205 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.343,-5.086,+0.035) r=0.54m +[headless_play] t= 4.20s step= 210 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.379,-5.215,+0.035) r=0.54m +[headless_play] t= 4.30s step= 215 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.415,-5.345,+0.035) r=0.54m +[headless_play] t= 4.40s step= 220 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.450,-5.474,+0.035) r=0.54m +[headless_play] t= 4.50s step= 225 trunk_z= 114.3mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.486,-5.603,+0.035) r=0.54m +[headless_play] t= 4.60s step= 230 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.522,-5.733,+0.035) r=0.54m +[headless_play] t= 4.70s step= 235 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.557,-5.862,+0.035) r=0.54m +[headless_play] t= 4.80s step= 240 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.593,-5.991,+0.035) r=0.54m +[headless_play] t= 4.90s step= 245 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.629,-6.121,+0.035) r=0.54m +[headless_play] t= 5.00s step= 250 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.664,-6.250,+0.035) r=0.54m +[headless_play] t= 5.10s step= 255 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.700,-6.379,+0.035) r=0.54m +[headless_play] t= 5.20s step= 260 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.736,-6.509,+0.035) r=0.54m +[headless_play] t= 5.30s step= 265 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.771,-6.638,+0.035) r=0.54m +[headless_play] t= 5.40s step= 270 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.807,-6.767,+0.035) r=0.54m +[headless_play] t= 5.50s step= 275 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.843,-6.897,+0.035) r=0.54m +[headless_play] t= 5.60s step= 280 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.878,-7.026,+0.035) r=0.54m +[headless_play] t= 5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.914,-7.155,+0.035) r=0.54m +[headless_play] t= 5.80s step= 290 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.950,-7.285,+0.035) r=0.54m +[headless_play] t= 5.90s step= 295 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-1.985,-7.414,+0.035) r=0.54m +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.021,-7.543,+0.035) r=0.54m +[headless_play] t= 6.10s step= 305 trunk_z= 114.4mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.057,-7.673,+0.035) r=0.54m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..5af11157e7f441d22b8d9a0b6237aa67ee429ff6 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t3.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 117.9mm grav_b=(+0.02,+0.07,-1.00) root_w=(-0.393,+0.433,+0.118) ball=(-0.460,+0.492,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 117.6mm grav_b=(+0.01,+0.06,-1.00) ball=(-0.460,+0.492,+0.035) r=0.58m +[headless_play] t= 0.10s step= 5 trunk_z= 122.5mm grav_b=(+0.10,+0.11,-0.99) ball=(-0.460,+0.492,+0.035) r=0.58m +[headless_play] t= 0.20s step= 10 trunk_z= 134.5mm grav_b=(+0.00,+0.22,-0.98) ball=(-0.541,+0.530,+0.073) r=0.61m +[headless_play] t= 0.30s step= 15 trunk_z= 125.4mm grav_b=(-0.01,+0.27,-0.96) ball=(-0.703,+0.607,+0.076) r=0.68m +[headless_play] t= 0.40s step= 20 trunk_z= 103.5mm grav_b=(+0.27,+0.51,-0.82) ball=(-0.849,+0.670,+0.031) r=0.72m +[headless_play] t= 0.50s step= 25 trunk_z= 72.7mm grav_b=(+0.81,+0.23,-0.54) ball=(-0.967,+0.709,+0.035) r=0.76m +[headless_play] t= 0.60s step= 30 trunk_z= 42.9mm grav_b=(+0.46,+0.25,-0.85) ball=(-1.086,+0.749,+0.035) r=0.77m +[headless_play] t= 0.70s step= 35 trunk_z= 42.2mm grav_b=(+0.16,-0.02,-0.99) ball=(-1.204,+0.788,+0.035) r=0.77m +[headless_play] t= 0.80s step= 40 trunk_z= 45.0mm grav_b=(+0.19,-0.20,-0.96) ball=(-1.323,+0.828,+0.035) r=0.78m +[headless_play] t= 0.90s step= 45 trunk_z= 54.1mm grav_b=(+0.35,+0.19,-0.92) ball=(-1.442,+0.867,+0.035) r=0.78m +[headless_play] t= 1.00s step= 50 trunk_z= 64.4mm grav_b=(+0.46,+0.50,-0.74) ball=(-1.561,+0.907,+0.035) r=0.75m +[headless_play] t= 1.10s step= 55 trunk_z= 80.3mm grav_b=(+0.41,+0.58,-0.70) ball=(-1.680,+0.947,+0.035) r=0.73m +[headless_play] t= 1.20s step= 60 trunk_z= 71.3mm grav_b=(+0.36,+0.48,-0.80) ball=(-1.799,+0.986,+0.035) r=0.75m +[headless_play] t= 1.30s step= 65 trunk_z= 70.4mm grav_b=(+0.41,+0.48,-0.78) ball=(-1.917,+1.026,+0.035) r=0.75m +[headless_play] t= 1.40s step= 70 trunk_z= 73.0mm grav_b=(+0.36,+0.45,-0.82) ball=(-2.036,+1.065,+0.035) r=0.77m +[headless_play] t= 1.50s step= 75 trunk_z= 78.3mm grav_b=(+0.34,+0.54,-0.77) ball=(-2.155,+1.105,+0.035) r=0.78m +[headless_play] t= 1.60s step= 80 trunk_z= 79.9mm grav_b=(+0.33,+0.54,-0.77) ball=(-2.274,+1.144,+0.035) r=0.78m +[headless_play] t= 1.70s step= 85 trunk_z= 78.3mm grav_b=(+0.28,+0.52,-0.80) ball=(-2.393,+1.184,+0.035) r=0.78m +[headless_play] t= 1.80s step= 90 trunk_z= 73.8mm grav_b=(+0.17,+0.46,-0.87) ball=(-2.511,+1.223,+0.035) r=0.78m +[headless_play] t= 1.90s step= 95 trunk_z= 73.1mm grav_b=(+0.06,+0.43,-0.90) ball=(-2.630,+1.263,+0.035) r=0.78m +[headless_play] t= 2.00s step= 100 trunk_z= 73.5mm grav_b=(+0.10,+0.41,-0.91) ball=(-2.749,+1.302,+0.035) r=0.78m +[headless_play] t= 2.10s step= 105 trunk_z= 86.9mm grav_b=(+0.34,+0.30,-0.89) ball=(-2.868,+1.342,+0.035) r=0.78m +[headless_play] t= 2.20s step= 110 trunk_z= 93.2mm grav_b=(+0.51,+0.31,-0.80) ball=(-2.987,+1.381,+0.035) r=0.79m +[headless_play] t= 2.30s step= 115 trunk_z= 88.4mm grav_b=(+0.67,+0.46,-0.58) ball=(-3.105,+1.421,+0.035) r=0.79m +[headless_play] t= 2.40s step= 120 trunk_z= 80.9mm grav_b=(+0.35,+0.57,-0.75) ball=(-3.224,+1.461,+0.035) r=0.79m +[headless_play] t= 2.50s step= 125 trunk_z= 63.8mm grav_b=(+0.17,+0.27,-0.95) ball=(-3.343,+1.500,+0.035) r=0.82m +[headless_play] t= 2.60s step= 130 trunk_z= 70.4mm grav_b=(+0.24,+0.37,-0.90) ball=(-3.462,+1.540,+0.035) r=0.81m +[headless_play] t= 2.70s step= 135 trunk_z= 75.2mm grav_b=(+0.23,+0.43,-0.87) ball=(-3.581,+1.579,+0.035) r=0.81m +[headless_play] t= 2.80s step= 140 trunk_z= 76.1mm grav_b=(+0.22,+0.43,-0.87) ball=(-3.700,+1.619,+0.035) r=0.81m +[headless_play] t= 2.90s step= 145 trunk_z= 76.8mm grav_b=(+0.22,+0.42,-0.88) ball=(-3.818,+1.658,+0.035) r=0.80m +[headless_play] t= 3.00s step= 150 trunk_z= 80.7mm grav_b=(+0.27,+0.37,-0.89) ball=(-3.937,+1.698,+0.035) r=0.80m +[headless_play] t= 3.10s step= 155 trunk_z= 82.9mm grav_b=(+0.30,+0.35,-0.88) ball=(-4.056,+1.737,+0.035) r=0.81m +[headless_play] t= 3.20s step= 160 trunk_z= 82.7mm grav_b=(+0.31,+0.36,-0.88) ball=(-4.175,+1.777,+0.035) r=0.81m +[headless_play] t= 3.30s step= 165 trunk_z= 82.4mm grav_b=(+0.31,+0.36,-0.88) ball=(-4.294,+1.816,+0.035) r=0.81m +[headless_play] t= 3.40s step= 170 trunk_z= 82.4mm grav_b=(+0.31,+0.37,-0.88) ball=(-4.412,+1.856,+0.035) r=0.81m +[headless_play] t= 3.50s step= 175 trunk_z= 82.3mm grav_b=(+0.31,+0.37,-0.88) ball=(-4.531,+1.896,+0.035) r=0.81m +[headless_play] t= 3.60s step= 180 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-4.650,+1.935,+0.035) r=0.81m +[headless_play] t= 3.70s step= 185 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-4.769,+1.975,+0.035) r=0.81m +[headless_play] t= 3.80s step= 190 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-4.888,+2.014,+0.035) r=0.81m +[headless_play] t= 3.90s step= 195 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.006,+2.054,+0.035) r=0.81m +[headless_play] t= 4.00s step= 200 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.125,+2.093,+0.035) r=0.81m +[headless_play] t= 4.10s step= 205 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.244,+2.133,+0.035) r=0.81m +[headless_play] t= 4.20s step= 210 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.363,+2.172,+0.035) r=0.81m +[headless_play] t= 4.30s step= 215 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.482,+2.212,+0.035) r=0.81m +[headless_play] t= 4.40s step= 220 trunk_z= 82.3mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.600,+2.251,+0.035) r=0.81m +[headless_play] t= 4.50s step= 225 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.719,+2.291,+0.035) r=0.81m +[headless_play] t= 4.60s step= 230 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.838,+2.330,+0.035) r=0.81m +[headless_play] t= 4.70s step= 235 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-5.957,+2.370,+0.035) r=0.81m +[headless_play] t= 4.80s step= 240 trunk_z= 82.2mm grav_b=(+0.32,+0.37,-0.87) ball=(-6.076,+2.410,+0.035) r=0.81m +[headless_play] t= 4.90s step= 245 trunk_z= 82.1mm grav_b=(+0.32,+0.38,-0.87) ball=(-6.195,+2.449,+0.035) r=0.81m +[headless_play] t= 5.00s step= 250 trunk_z= 82.1mm grav_b=(+0.32,+0.38,-0.87) ball=(-6.313,+2.489,+0.035) r=0.81m +[headless_play] t= 5.10s step= 255 trunk_z= 82.1mm grav_b=(+0.32,+0.38,-0.87) ball=(-6.432,+2.528,+0.035) r=0.81m +[headless_play] t= 5.20s step= 260 trunk_z= 82.1mm grav_b=(+0.33,+0.38,-0.87) ball=(-6.551,+2.568,+0.035) r=0.81m +[headless_play] t= 5.30s step= 265 trunk_z= 82.1mm grav_b=(+0.33,+0.38,-0.87) ball=(-6.670,+2.607,+0.035) r=0.81m +[headless_play] t= 5.40s step= 270 trunk_z= 82.0mm grav_b=(+0.33,+0.38,-0.87) ball=(-6.789,+2.647,+0.035) r=0.81m +[headless_play] t= 5.50s step= 275 trunk_z= 82.0mm grav_b=(+0.33,+0.38,-0.87) ball=(-6.907,+2.686,+0.035) r=0.81m +[headless_play] t= 5.60s step= 280 trunk_z= 82.0mm grav_b=(+0.33,+0.38,-0.87) ball=(-7.026,+2.726,+0.035) r=0.81m +[headless_play] t= 5.70s step= 285 trunk_z= 81.9mm grav_b=(+0.33,+0.38,-0.87) ball=(-7.145,+2.765,+0.035) r=0.81m +[headless_play] t= 5.80s step= 290 trunk_z= 81.9mm grav_b=(+0.33,+0.38,-0.87) ball=(-7.264,+2.805,+0.035) r=0.81m +[headless_play] t= 5.90s step= 295 trunk_z= 81.9mm grav_b=(+0.33,+0.38,-0.87) ball=(-7.383,+2.844,+0.035) r=0.81m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(+0.03,+0.04,-1.00) ball=(+0.066,+0.384,+0.035) r=0.35m +[headless_play] t= 6.10s step= 305 trunk_z= 121.8mm grav_b=(+0.07,+0.14,-0.99) ball=(+0.066,+0.384,+0.035) r=0.34m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..b92795d04fdf1beeffe499a1ec3319d87379a58d --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t4.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.7mm grav_b=(-0.01,-0.09,-1.00) root_w=(-0.100,-0.447,+0.114) ball=(-0.038,-0.523,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 113.8mm grav_b=(-0.01,-0.09,-1.00) ball=(-0.038,-0.523,+0.035) r=0.46m +[headless_play] t= 0.10s step= 5 trunk_z= 122.4mm grav_b=(+0.00,+0.09,-1.00) ball=(-0.038,-0.523,+0.035) r=0.46m +[headless_play] t= 0.20s step= 10 trunk_z= 127.4mm grav_b=(-0.31,+0.19,-0.93) ball=(+0.006,-0.579,+0.057) r=0.47m +[headless_play] t= 0.30s step= 15 trunk_z= 128.0mm grav_b=(-0.65,+0.24,-0.72) ball=(+0.101,-0.709,+0.039) r=0.52m +[headless_play] t= 0.40s step= 20 trunk_z= 120.3mm grav_b=(-0.08,+0.01,-1.00) ball=(+0.178,-0.824,+0.034) r=0.52m +[headless_play] t= 0.50s step= 25 trunk_z= 106.2mm grav_b=(-0.03,-0.05,-1.00) ball=(+0.252,-0.938,+0.035) r=0.53m +[headless_play] t= 0.60s step= 30 trunk_z= 110.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.327,-1.052,+0.035) r=0.53m +[headless_play] t= 0.70s step= 35 trunk_z= 113.5mm grav_b=(-0.01,+0.00,-1.00) ball=(+0.401,-1.167,+0.035) r=0.52m +[headless_play] t= 0.80s step= 40 trunk_z= 113.1mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.475,-1.281,+0.035) r=0.52m +[headless_play] t= 0.90s step= 45 trunk_z= 113.2mm grav_b=(-0.03,-0.00,-1.00) ball=(+0.550,-1.395,+0.035) r=0.52m +[headless_play] t= 1.00s step= 50 trunk_z= 113.3mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.624,-1.509,+0.035) r=0.52m +[headless_play] t= 1.10s step= 55 trunk_z= 113.3mm grav_b=(-0.00,-0.00,-1.00) ball=(+0.699,-1.623,+0.035) r=0.52m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(-0.01,-0.00,-1.00) ball=(+0.773,-1.737,+0.035) r=0.52m +[headless_play] t= 1.30s step= 65 trunk_z= 113.5mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.848,-1.852,+0.035) r=0.52m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.922,-1.966,+0.035) r=0.52m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.997,-2.080,+0.035) r=0.52m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.071,-2.194,+0.035) r=0.52m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.146,-2.308,+0.035) r=0.52m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.220,-2.423,+0.035) r=0.52m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.295,-2.537,+0.035) r=0.52m +[headless_play] t= 2.00s step= 100 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.369,-2.651,+0.035) r=0.52m +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.444,-2.765,+0.035) r=0.52m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.518,-2.879,+0.035) r=0.52m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.593,-2.993,+0.035) r=0.52m +[headless_play] t= 2.40s step= 120 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.667,-3.108,+0.035) r=0.52m +[headless_play] t= 2.50s step= 125 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.742,-3.222,+0.035) r=0.52m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.816,-3.336,+0.035) r=0.52m +[headless_play] t= 2.70s step= 135 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.891,-3.450,+0.035) r=0.52m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+1.965,-3.564,+0.035) r=0.52m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.039,-3.678,+0.035) r=0.52m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.114,-3.793,+0.035) r=0.52m +[headless_play] t= 3.10s step= 155 trunk_z= 114.0mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.188,-3.907,+0.035) r=0.52m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.263,-4.021,+0.035) r=0.52m +[headless_play] t= 3.30s step= 165 trunk_z= 114.0mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.337,-4.135,+0.035) r=0.52m +[headless_play] t= 3.40s step= 170 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.412,-4.249,+0.035) r=0.52m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.486,-4.363,+0.035) r=0.52m +[headless_play] t= 3.60s step= 180 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.561,-4.478,+0.035) r=0.52m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.635,-4.592,+0.035) r=0.52m +[headless_play] t= 3.80s step= 190 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.710,-4.706,+0.035) r=0.52m +[headless_play] t= 3.90s step= 195 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.784,-4.820,+0.035) r=0.52m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.859,-4.934,+0.035) r=0.52m +[headless_play] t= 4.10s step= 205 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+2.933,-5.049,+0.035) r=0.52m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.008,-5.163,+0.035) r=0.52m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.082,-5.277,+0.035) r=0.52m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.157,-5.391,+0.035) r=0.52m +[headless_play] t= 4.50s step= 225 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.231,-5.505,+0.035) r=0.52m +[headless_play] t= 4.60s step= 230 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.306,-5.619,+0.035) r=0.52m +[headless_play] t= 4.70s step= 235 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.380,-5.734,+0.035) r=0.52m +[headless_play] t= 4.80s step= 240 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.455,-5.848,+0.035) r=0.52m +[headless_play] t= 4.90s step= 245 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.529,-5.962,+0.035) r=0.52m +[headless_play] t= 5.00s step= 250 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.604,-6.076,+0.035) r=0.52m +[headless_play] t= 5.10s step= 255 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.678,-6.190,+0.035) r=0.52m +[headless_play] t= 5.20s step= 260 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.752,-6.304,+0.035) r=0.52m +[headless_play] t= 5.30s step= 265 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.827,-6.419,+0.035) r=0.52m +[headless_play] t= 5.40s step= 270 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.901,-6.533,+0.035) r=0.52m +[headless_play] t= 5.50s step= 275 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+3.976,-6.647,+0.035) r=0.52m +[headless_play] t= 5.60s step= 280 trunk_z= 114.3mm grav_b=(-0.02,+0.00,-1.00) ball=(+4.050,-6.761,+0.035) r=0.52m +[headless_play] t= 5.70s step= 285 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+4.125,-6.875,+0.035) r=0.52m +[headless_play] t= 5.80s step= 290 trunk_z= 114.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+4.199,-6.989,+0.035) r=0.52m +[headless_play] t= 5.90s step= 295 trunk_z= 114.3mm grav_b=(-0.02,+0.00,-1.00) ball=(+4.274,-7.104,+0.035) r=0.52m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.1mm grav_b=(+0.04,-0.03,-1.00) ball=(-0.022,+0.102,+0.035) r=0.09m +[headless_play] t= 6.10s step= 305 trunk_z= 122.9mm grav_b=(+0.04,+0.08,-1.00) ball=(-0.022,+0.102,+0.035) r=0.08m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..d82b80b064772654e55fdb5b972473ef80ae69d7 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t5.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.0mm grav_b=(+0.02,+0.08,-1.00) root_w=(-0.321,+0.107,+0.115) ball=(-0.293,+0.204,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 114.8mm grav_b=(+0.02,+0.08,-1.00) ball=(-0.293,+0.204,+0.035) r=0.34m +[headless_play] t= 0.10s step= 5 trunk_z= 121.8mm grav_b=(+0.06,+0.15,-0.99) ball=(-0.293,+0.204,+0.035) r=0.32m +[headless_play] t= 0.20s step= 10 trunk_z= 129.2mm grav_b=(-0.18,+0.25,-0.95) ball=(-0.283,+0.267,+0.054) r=0.33m +[headless_play] t= 0.30s step= 15 trunk_z= 134.1mm grav_b=(-0.22,+0.19,-0.96) ball=(-0.257,+0.407,+0.033) r=0.37m +[headless_play] t= 0.40s step= 20 trunk_z= 120.8mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.223,+0.529,+0.035) r=0.38m +[headless_play] t= 0.50s step= 25 trunk_z= 115.5mm grav_b=(+0.12,+0.07,-0.99) ball=(-0.189,+0.651,+0.035) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 122.5mm grav_b=(+0.02,+0.09,-1.00) ball=(-0.155,+0.772,+0.035) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 111.1mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.121,+0.894,+0.035) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 113.8mm grav_b=(-0.04,+0.02,-1.00) ball=(-0.087,+1.016,+0.035) r=0.48m +[headless_play] t= 0.90s step= 45 trunk_z= 112.0mm grav_b=(-0.02,+0.00,-1.00) ball=(-0.052,+1.138,+0.035) r=0.49m +[headless_play] t= 1.00s step= 50 trunk_z= 112.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.018,+1.260,+0.035) r=0.49m +[headless_play] t= 1.10s step= 55 trunk_z= 112.7mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.016,+1.382,+0.035) r=0.49m +[headless_play] t= 1.20s step= 60 trunk_z= 112.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+0.050,+1.503,+0.035) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 113.0mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.084,+1.625,+0.035) r=0.49m +[headless_play] t= 1.40s step= 70 trunk_z= 113.0mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.119,+1.747,+0.035) r=0.49m +[headless_play] t= 1.50s step= 75 trunk_z= 113.1mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.153,+1.869,+0.035) r=0.49m +[headless_play] t= 1.60s step= 80 trunk_z= 113.1mm grav_b=(+0.01,+0.02,-1.00) ball=(+0.187,+1.991,+0.035) r=0.49m +[headless_play] t= 1.70s step= 85 trunk_z= 113.2mm grav_b=(+0.00,+0.02,-1.00) ball=(+0.221,+2.113,+0.035) r=0.49m +[headless_play] t= 1.80s step= 90 trunk_z= 113.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.255,+2.235,+0.035) r=0.49m +[headless_play] t= 1.90s step= 95 trunk_z= 113.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.290,+2.356,+0.035) r=0.49m +[headless_play] t= 2.00s step= 100 trunk_z= 113.2mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.324,+2.478,+0.035) r=0.49m +[headless_play] t= 2.10s step= 105 trunk_z= 113.3mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.358,+2.600,+0.035) r=0.49m +[headless_play] t= 2.20s step= 110 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.392,+2.722,+0.035) r=0.49m +[headless_play] t= 2.30s step= 115 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.426,+2.844,+0.035) r=0.49m +[headless_play] t= 2.40s step= 120 trunk_z= 113.3mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.460,+2.966,+0.035) r=0.49m +[headless_play] t= 2.50s step= 125 trunk_z= 113.4mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.495,+3.087,+0.035) r=0.49m +[headless_play] t= 2.60s step= 130 trunk_z= 113.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.529,+3.209,+0.035) r=0.49m +[headless_play] t= 2.70s step= 135 trunk_z= 113.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.563,+3.331,+0.035) r=0.49m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.597,+3.453,+0.035) r=0.49m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.631,+3.575,+0.035) r=0.49m +[headless_play] t= 3.00s step= 150 trunk_z= 113.4mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.666,+3.697,+0.035) r=0.49m +[headless_play] t= 3.10s step= 155 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.700,+3.818,+0.035) r=0.49m +[headless_play] t= 3.20s step= 160 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.734,+3.940,+0.035) r=0.49m +[headless_play] t= 3.30s step= 165 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.768,+4.062,+0.035) r=0.49m +[headless_play] t= 3.40s step= 170 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.802,+4.184,+0.035) r=0.49m +[headless_play] t= 3.50s step= 175 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.837,+4.306,+0.035) r=0.49m +[headless_play] t= 3.60s step= 180 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.871,+4.428,+0.035) r=0.49m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.905,+4.550,+0.035) r=0.49m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+0.939,+4.671,+0.035) r=0.49m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+0.973,+4.793,+0.035) r=0.49m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.007,+4.915,+0.035) r=0.49m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.042,+5.037,+0.035) r=0.49m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.076,+5.159,+0.035) r=0.49m +[headless_play] t= 4.30s step= 215 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.110,+5.281,+0.035) r=0.49m +[headless_play] t= 4.40s step= 220 trunk_z= 113.6mm grav_b=(+0.00,+0.01,-1.00) ball=(+1.144,+5.402,+0.035) r=0.49m +[headless_play] t= 4.50s step= 225 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.178,+5.524,+0.035) r=0.49m +[headless_play] t= 4.60s step= 230 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.213,+5.646,+0.035) r=0.49m +[headless_play] t= 4.70s step= 235 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.247,+5.768,+0.035) r=0.49m +[headless_play] t= 4.80s step= 240 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.281,+5.890,+0.035) r=0.49m +[headless_play] t= 4.90s step= 245 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.315,+6.012,+0.035) r=0.49m +[headless_play] t= 5.00s step= 250 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.349,+6.133,+0.035) r=0.49m +[headless_play] t= 5.10s step= 255 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.384,+6.255,+0.035) r=0.49m +[headless_play] t= 5.20s step= 260 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.418,+6.377,+0.035) r=0.49m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.452,+6.499,+0.035) r=0.49m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.486,+6.621,+0.035) r=0.49m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.520,+6.743,+0.035) r=0.49m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.555,+6.865,+0.035) r=0.49m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.589,+6.986,+0.035) r=0.49m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.623,+7.108,+0.035) r=0.49m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(+1.657,+7.230,+0.035) r=0.49m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.8mm grav_b=(+0.06,-0.03,-1.00) ball=(-0.284,-0.514,+0.035) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 121.3mm grav_b=(+0.03,+0.10,-0.99) ball=(-0.284,-0.514,+0.035) r=0.51m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..c37303892746b90a94ed135f0f94224ac5979cb3 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t6.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 118.3mm grav_b=(-0.02,-0.05,-1.00) root_w=(+0.343,+0.490,+0.118) ball=(+0.400,+0.398,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 118.2mm grav_b=(-0.03,-0.04,-1.00) ball=(+0.400,+0.398,+0.035) r=0.60m +[headless_play] t= 0.10s step= 5 trunk_z= 123.0mm grav_b=(-0.05,+0.12,-0.99) ball=(+0.400,+0.398,+0.035) r=0.60m +[headless_play] t= 0.20s step= 10 trunk_z= 126.7mm grav_b=(-0.40,+0.25,-0.88) ball=(+0.410,+0.375,+0.037) r=0.59m +[headless_play] t= 0.30s step= 15 trunk_z= 124.2mm grav_b=(-0.76,+0.21,-0.62) ball=(+0.436,+0.307,+0.035) r=0.59m +[headless_play] t= 0.40s step= 20 trunk_z= 57.4mm grav_b=(-0.89,-0.07,-0.45) ball=(+0.460,+0.239,+0.035) r=0.57m +[headless_play] RESET at t= 0.42s step= 21 (env termination, not a recovery) +[headless_play] t= 0.50s step= 25 trunk_z= 117.1mm grav_b=(+0.03,+0.03,-1.00) ball=(-0.352,+0.314,+0.035) r=0.39m +[headless_play] t= 0.60s step= 30 trunk_z= 126.2mm grav_b=(-0.12,+0.20,-0.97) ball=(-0.355,+0.314,+0.036) r=0.39m +[headless_play] t= 0.70s step= 35 trunk_z= 127.3mm grav_b=(-0.41,+0.18,-0.89) ball=(-0.479,+0.327,+0.038) r=0.43m +[headless_play] t= 0.80s step= 40 trunk_z= 113.1mm grav_b=(-0.09,+0.01,-1.00) ball=(-0.596,+0.347,+0.034) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 112.0mm grav_b=(-0.11,+0.05,-0.99) ball=(-0.713,+0.369,+0.035) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 116.0mm grav_b=(-0.00,+0.02,-1.00) ball=(-0.830,+0.392,+0.035) r=0.47m +[headless_play] t= 1.10s step= 55 trunk_z= 112.2mm grav_b=(-0.02,-0.03,-1.00) ball=(-0.946,+0.414,+0.035) r=0.48m +[headless_play] t= 1.20s step= 60 trunk_z= 113.9mm grav_b=(-0.07,-0.06,-1.00) ball=(-1.063,+0.436,+0.035) r=0.49m +[headless_play] t= 1.30s step= 65 trunk_z= 113.8mm grav_b=(-0.05,-0.05,-1.00) ball=(-1.180,+0.459,+0.035) r=0.50m +[headless_play] t= 1.40s step= 70 trunk_z= 114.3mm grav_b=(-0.05,-0.02,-1.00) ball=(-1.297,+0.481,+0.035) r=0.50m +[headless_play] t= 1.50s step= 75 trunk_z= 114.0mm grav_b=(-0.03,-0.02,-1.00) ball=(-1.414,+0.503,+0.035) r=0.50m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.00,-0.02,-1.00) ball=(-1.531,+0.525,+0.035) r=0.50m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(+0.01,-0.02,-1.00) ball=(-1.648,+0.548,+0.035) r=0.51m +[headless_play] t= 1.80s step= 90 trunk_z= 114.3mm grav_b=(+0.00,-0.01,-1.00) ball=(-1.764,+0.570,+0.035) r=0.50m +[headless_play] t= 1.90s step= 95 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) ball=(-1.881,+0.592,+0.035) r=0.50m +[headless_play] t= 2.00s step= 100 trunk_z= 114.2mm grav_b=(-0.04,-0.01,-1.00) ball=(-1.998,+0.615,+0.035) r=0.50m +[headless_play] t= 2.10s step= 105 trunk_z= 114.2mm grav_b=(-0.03,-0.01,-1.00) ball=(-2.115,+0.637,+0.035) r=0.50m +[headless_play] t= 2.20s step= 110 trunk_z= 114.2mm grav_b=(-0.01,-0.01,-1.00) ball=(-2.232,+0.659,+0.035) r=0.51m +[headless_play] t= 2.30s step= 115 trunk_z= 114.3mm grav_b=(-0.01,-0.01,-1.00) ball=(-2.349,+0.681,+0.035) r=0.50m +[headless_play] t= 2.40s step= 120 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) ball=(-2.466,+0.704,+0.035) r=0.50m +[headless_play] t= 2.50s step= 125 trunk_z= 114.3mm grav_b=(-0.03,-0.01,-1.00) ball=(-2.583,+0.726,+0.035) r=0.50m +[headless_play] t= 2.60s step= 130 trunk_z= 114.3mm grav_b=(-0.02,-0.01,-1.00) ball=(-2.699,+0.748,+0.035) r=0.50m +[headless_play] t= 2.70s step= 135 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-2.816,+0.771,+0.035) r=0.50m +[headless_play] t= 2.80s step= 140 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-2.933,+0.793,+0.035) r=0.50m +[headless_play] t= 2.90s step= 145 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.050,+0.815,+0.035) r=0.50m +[headless_play] t= 3.00s step= 150 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.167,+0.837,+0.035) r=0.50m +[headless_play] t= 3.10s step= 155 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.284,+0.860,+0.035) r=0.50m +[headless_play] t= 3.20s step= 160 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.401,+0.882,+0.035) r=0.50m +[headless_play] t= 3.30s step= 165 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.517,+0.904,+0.035) r=0.50m +[headless_play] t= 3.40s step= 170 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.634,+0.927,+0.035) r=0.50m +[headless_play] t= 3.50s step= 175 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.751,+0.949,+0.035) r=0.51m +[headless_play] t= 3.60s step= 180 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.868,+0.971,+0.035) r=0.51m +[headless_play] t= 3.70s step= 185 trunk_z= 114.4mm grav_b=(-0.02,-0.01,-1.00) ball=(-3.985,+0.993,+0.035) r=0.51m +[headless_play] t= 3.80s step= 190 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.102,+1.016,+0.035) r=0.51m +[headless_play] t= 3.90s step= 195 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.219,+1.038,+0.035) r=0.51m +[headless_play] t= 4.00s step= 200 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.335,+1.060,+0.035) r=0.50m +[headless_play] t= 4.10s step= 205 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.452,+1.083,+0.035) r=0.51m +[headless_play] t= 4.20s step= 210 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.569,+1.105,+0.035) r=0.50m +[headless_play] t= 4.30s step= 215 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.686,+1.127,+0.035) r=0.51m +[headless_play] t= 4.40s step= 220 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-4.803,+1.149,+0.035) r=0.50m +[headless_play] t= 4.50s step= 225 trunk_z= 114.5mm grav_b=(-0.02,-0.02,-1.00) ball=(-4.920,+1.172,+0.035) r=0.50m +[headless_play] t= 4.60s step= 230 trunk_z= 114.5mm grav_b=(-0.01,-0.01,-1.00) ball=(-5.037,+1.194,+0.035) r=0.51m +[headless_play] t= 4.70s step= 235 trunk_z= 114.5mm grav_b=(-0.01,-0.01,-1.00) ball=(-5.154,+1.216,+0.035) r=0.51m +[headless_play] t= 4.80s step= 240 trunk_z= 114.5mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.270,+1.239,+0.035) r=0.51m +[headless_play] t= 4.90s step= 245 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.387,+1.261,+0.035) r=0.51m +[headless_play] t= 5.00s step= 250 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.504,+1.283,+0.035) r=0.51m +[headless_play] t= 5.10s step= 255 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.621,+1.305,+0.035) r=0.51m +[headless_play] t= 5.20s step= 260 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.738,+1.328,+0.035) r=0.51m +[headless_play] t= 5.30s step= 265 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.855,+1.350,+0.035) r=0.50m +[headless_play] t= 5.40s step= 270 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-5.972,+1.372,+0.035) r=0.50m +[headless_play] t= 5.50s step= 275 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.088,+1.394,+0.035) r=0.51m +[headless_play] t= 5.60s step= 280 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.205,+1.417,+0.035) r=0.50m +[headless_play] t= 5.70s step= 285 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.322,+1.439,+0.035) r=0.51m +[headless_play] t= 5.80s step= 290 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.439,+1.461,+0.035) r=0.51m +[headless_play] t= 5.90s step= 295 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.556,+1.484,+0.035) r=0.51m +[headless_play] t= 6.00s step= 300 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.673,+1.506,+0.035) r=0.51m +[headless_play] t= 6.10s step= 305 trunk_z= 114.6mm grav_b=(-0.02,-0.01,-1.00) ball=(-6.790,+1.528,+0.035) r=0.51m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..06a024a9837cec21671300acca51a23e431ddfc1 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t7.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.6mm grav_b=(+0.07,+0.03,-1.00) root_w=(+0.299,+0.003,+0.112) ball=(+0.307,-0.096,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 112.7mm grav_b=(+0.07,+0.03,-1.00) ball=(+0.307,-0.096,+0.035) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 121.6mm grav_b=(+0.08,+0.13,-0.99) ball=(+0.307,-0.096,+0.035) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 128.7mm grav_b=(-0.05,+0.24,-0.97) ball=(+0.312,-0.162,+0.053) r=0.30m +[headless_play] t= 0.30s step= 15 trunk_z= 127.1mm grav_b=(-0.08,+0.19,-0.98) ball=(+0.317,-0.301,+0.031) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 119.3mm grav_b=(+0.01,+0.16,-0.99) ball=(+0.311,-0.419,+0.035) r=0.37m +[headless_play] t= 0.50s step= 25 trunk_z= 108.2mm grav_b=(+0.28,+0.12,-0.95) ball=(+0.305,-0.538,+0.035) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 109.9mm grav_b=(+0.31,+0.01,-0.95) ball=(+0.300,-0.656,+0.035) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 118.2mm grav_b=(+0.41,-0.12,-0.90) ball=(+0.294,-0.775,+0.035) r=0.50m +[headless_play] t= 0.80s step= 40 trunk_z= 113.1mm grav_b=(+0.42,-0.34,-0.84) ball=(+0.288,-0.894,+0.035) r=0.57m +[headless_play] t= 0.90s step= 45 trunk_z= 77.5mm grav_b=(+0.74,-0.19,-0.64) ball=(+0.283,-1.012,+0.035) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 94.3mm grav_b=(+0.79,-0.24,-0.56) ball=(+0.277,-1.131,+0.035) r=0.67m +[headless_play] t= 1.10s step= 55 trunk_z= 99.5mm grav_b=(+0.74,+0.08,-0.67) ball=(+0.271,-1.250,+0.035) r=0.69m +[headless_play] t= 1.20s step= 60 trunk_z= 62.1mm grav_b=(+0.12,+0.25,-0.96) ball=(+0.265,-1.368,+0.035) r=0.70m +[headless_play] t= 1.30s step= 65 trunk_z= 72.8mm grav_b=(+0.31,-0.01,-0.95) ball=(+0.260,-1.487,+0.035) r=0.68m +[headless_play] t= 1.40s step= 70 trunk_z= 78.5mm grav_b=(+0.38,+0.29,-0.88) ball=(+0.254,-1.606,+0.035) r=0.67m +[headless_play] t= 1.50s step= 75 trunk_z= 71.4mm grav_b=(+0.24,+0.34,-0.91) ball=(+0.248,-1.724,+0.035) r=0.67m +[headless_play] t= 1.60s step= 80 trunk_z= 74.9mm grav_b=(+0.25,+0.36,-0.90) ball=(+0.243,-1.843,+0.035) r=0.67m +[headless_play] t= 1.70s step= 85 trunk_z= 76.7mm grav_b=(+0.27,+0.37,-0.89) ball=(+0.237,-1.962,+0.035) r=0.67m +[headless_play] t= 1.80s step= 90 trunk_z= 76.9mm grav_b=(+0.27,+0.37,-0.89) ball=(+0.231,-2.080,+0.035) r=0.67m +[headless_play] t= 1.90s step= 95 trunk_z= 77.2mm grav_b=(+0.28,+0.37,-0.89) ball=(+0.226,-2.199,+0.035) r=0.67m +[headless_play] t= 2.00s step= 100 trunk_z= 77.4mm grav_b=(+0.28,+0.37,-0.88) ball=(+0.220,-2.318,+0.035) r=0.67m +[headless_play] t= 2.10s step= 105 trunk_z= 77.7mm grav_b=(+0.28,+0.38,-0.88) ball=(+0.214,-2.436,+0.035) r=0.67m +[headless_play] t= 2.20s step= 110 trunk_z= 77.9mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.209,-2.555,+0.035) r=0.67m +[headless_play] t= 2.30s step= 115 trunk_z= 78.0mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.203,-2.674,+0.035) r=0.67m +[headless_play] t= 2.40s step= 120 trunk_z= 78.1mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.197,-2.792,+0.035) r=0.67m +[headless_play] t= 2.50s step= 125 trunk_z= 78.2mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.192,-2.911,+0.035) r=0.67m +[headless_play] t= 2.60s step= 130 trunk_z= 78.2mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.186,-3.030,+0.035) r=0.67m +[headless_play] t= 2.70s step= 135 trunk_z= 78.3mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.180,-3.148,+0.035) r=0.67m +[headless_play] t= 2.80s step= 140 trunk_z= 78.3mm grav_b=(+0.29,+0.38,-0.88) ball=(+0.174,-3.267,+0.035) r=0.67m +[headless_play] t= 2.90s step= 145 trunk_z= 78.4mm grav_b=(+0.30,+0.38,-0.88) ball=(+0.169,-3.386,+0.035) r=0.67m +[headless_play] t= 3.00s step= 150 trunk_z= 78.4mm grav_b=(+0.30,+0.38,-0.88) ball=(+0.163,-3.505,+0.035) r=0.67m +[headless_play] t= 3.10s step= 155 trunk_z= 78.4mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.157,-3.623,+0.035) r=0.67m +[headless_play] t= 3.20s step= 160 trunk_z= 78.4mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.152,-3.742,+0.035) r=0.67m +[headless_play] t= 3.30s step= 165 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.146,-3.861,+0.035) r=0.67m +[headless_play] t= 3.40s step= 170 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.140,-3.979,+0.035) r=0.67m +[headless_play] t= 3.50s step= 175 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.135,-4.098,+0.035) r=0.67m +[headless_play] t= 3.60s step= 180 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.129,-4.217,+0.035) r=0.67m +[headless_play] t= 3.70s step= 185 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.123,-4.335,+0.035) r=0.67m +[headless_play] t= 3.80s step= 190 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.118,-4.454,+0.035) r=0.67m +[headless_play] t= 3.90s step= 195 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.112,-4.573,+0.035) r=0.67m +[headless_play] t= 4.00s step= 200 trunk_z= 78.5mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.106,-4.691,+0.035) r=0.67m +[headless_play] t= 4.10s step= 205 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.100,-4.810,+0.035) r=0.67m +[headless_play] t= 4.20s step= 210 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.095,-4.929,+0.035) r=0.67m +[headless_play] t= 4.30s step= 215 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.089,-5.047,+0.035) r=0.67m +[headless_play] t= 4.40s step= 220 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.083,-5.166,+0.035) r=0.67m +[headless_play] t= 4.50s step= 225 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.078,-5.285,+0.035) r=0.67m +[headless_play] t= 4.60s step= 230 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.072,-5.403,+0.035) r=0.67m +[headless_play] t= 4.70s step= 235 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.066,-5.522,+0.035) r=0.67m +[headless_play] t= 4.80s step= 240 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.061,-5.641,+0.035) r=0.67m +[headless_play] t= 4.90s step= 245 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.055,-5.759,+0.035) r=0.67m +[headless_play] t= 5.00s step= 250 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.049,-5.878,+0.035) r=0.67m +[headless_play] t= 5.10s step= 255 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.044,-5.997,+0.035) r=0.67m +[headless_play] t= 5.20s step= 260 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.038,-6.115,+0.035) r=0.67m +[headless_play] t= 5.30s step= 265 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.032,-6.234,+0.035) r=0.67m +[headless_play] t= 5.40s step= 270 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.027,-6.353,+0.035) r=0.67m +[headless_play] t= 5.50s step= 275 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.021,-6.471,+0.035) r=0.67m +[headless_play] t= 5.60s step= 280 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.015,-6.590,+0.035) r=0.67m +[headless_play] t= 5.70s step= 285 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.009,-6.709,+0.035) r=0.67m +[headless_play] t= 5.80s step= 290 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(+0.004,-6.827,+0.035) r=0.67m +[headless_play] t= 5.90s step= 295 trunk_z= 78.6mm grav_b=(+0.30,+0.38,-0.87) ball=(-0.002,-6.946,+0.035) r=0.67m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.7mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.121,+0.383,+0.035) r=0.31m +[headless_play] t= 6.10s step= 305 trunk_z= 122.1mm grav_b=(+0.01,+0.11,-0.99) ball=(-0.121,+0.383,+0.035) r=0.31m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..133245179b6f895dcb24ab5d0052f32979ea1d20 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t8.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 114.0mm grav_b=(+0.07,-0.05,-1.00) root_w=(+0.359,-0.249,+0.114) ball=(+0.468,-0.284,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 114.8mm grav_b=(+0.07,-0.04,-1.00) ball=(+0.468,-0.284,+0.035) r=0.44m +[headless_play] t= 0.10s step= 5 trunk_z= 121.1mm grav_b=(+0.10,+0.07,-0.99) ball=(+0.468,-0.284,+0.035) r=0.43m +[headless_play] t= 0.20s step= 10 trunk_z= 127.7mm grav_b=(-0.17,+0.18,-0.97) ball=(+0.506,-0.303,+0.044) r=0.46m +[headless_play] t= 0.30s step= 15 trunk_z= 121.8mm grav_b=(-0.32,+0.27,-0.91) ball=(+0.623,-0.361,+0.033) r=0.51m +[headless_play] t= 0.40s step= 20 trunk_z= 107.4mm grav_b=(+0.19,+0.04,-0.98) ball=(+0.732,-0.418,+0.035) r=0.53m +[headless_play] t= 0.50s step= 25 trunk_z= 114.4mm grav_b=(+0.20,+0.01,-0.98) ball=(+0.842,-0.476,+0.035) r=0.55m +[headless_play] t= 0.60s step= 30 trunk_z= 107.7mm grav_b=(+0.11,-0.04,-0.99) ball=(+0.951,-0.533,+0.035) r=0.59m +[headless_play] t= 0.70s step= 35 trunk_z= 118.8mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.061,-0.591,+0.035) r=0.61m +[headless_play] t= 0.80s step= 40 trunk_z= 109.7mm grav_b=(-0.02,+0.11,-0.99) ball=(+1.170,-0.649,+0.035) r=0.62m +[headless_play] t= 0.90s step= 45 trunk_z= 109.8mm grav_b=(-0.04,+0.06,-1.00) ball=(+1.279,-0.706,+0.035) r=0.62m +[headless_play] t= 1.00s step= 50 trunk_z= 109.3mm grav_b=(+0.04,+0.06,-1.00) ball=(+1.389,-0.764,+0.035) r=0.61m +[headless_play] t= 1.10s step= 55 trunk_z= 109.2mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.498,-0.822,+0.035) r=0.60m +[headless_play] t= 1.20s step= 60 trunk_z= 110.3mm grav_b=(+0.02,-0.02,-1.00) ball=(+1.608,-0.879,+0.035) r=0.60m +[headless_play] t= 1.30s step= 65 trunk_z= 110.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.717,-0.937,+0.035) r=0.60m +[headless_play] t= 1.40s step= 70 trunk_z= 111.2mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.827,-0.995,+0.035) r=0.60m +[headless_play] t= 1.50s step= 75 trunk_z= 111.5mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.936,-1.052,+0.035) r=0.60m +[headless_play] t= 1.60s step= 80 trunk_z= 111.7mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.046,-1.110,+0.035) r=0.60m +[headless_play] t= 1.70s step= 85 trunk_z= 111.9mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.155,-1.167,+0.035) r=0.60m +[headless_play] t= 1.80s step= 90 trunk_z= 112.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.265,-1.225,+0.035) r=0.60m +[headless_play] t= 1.90s step= 95 trunk_z= 112.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.374,-1.283,+0.035) r=0.60m +[headless_play] t= 2.00s step= 100 trunk_z= 112.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.484,-1.340,+0.035) r=0.60m +[headless_play] t= 2.10s step= 105 trunk_z= 112.3mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.593,-1.398,+0.035) r=0.60m +[headless_play] t= 2.20s step= 110 trunk_z= 112.4mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.703,-1.456,+0.035) r=0.60m +[headless_play] t= 2.30s step= 115 trunk_z= 112.5mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.812,-1.513,+0.035) r=0.60m +[headless_play] t= 2.40s step= 120 trunk_z= 112.5mm grav_b=(+0.01,-0.01,-1.00) ball=(+2.922,-1.571,+0.035) r=0.60m +[headless_play] t= 2.50s step= 125 trunk_z= 112.6mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.031,-1.629,+0.035) r=0.60m +[headless_play] t= 2.60s step= 130 trunk_z= 112.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.141,-1.686,+0.035) r=0.60m +[headless_play] t= 2.70s step= 135 trunk_z= 112.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.250,-1.744,+0.035) r=0.60m +[headless_play] t= 2.80s step= 140 trunk_z= 112.8mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.360,-1.802,+0.035) r=0.60m +[headless_play] t= 2.90s step= 145 trunk_z= 112.9mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.469,-1.859,+0.035) r=0.60m +[headless_play] t= 3.00s step= 150 trunk_z= 113.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.579,-1.917,+0.035) r=0.60m +[headless_play] t= 3.10s step= 155 trunk_z= 113.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.688,-1.975,+0.035) r=0.60m +[headless_play] t= 3.20s step= 160 trunk_z= 113.0mm grav_b=(+0.01,-0.01,-1.00) ball=(+3.798,-2.032,+0.035) r=0.60m +[headless_play] t= 3.30s step= 165 trunk_z= 113.1mm grav_b=(+0.00,-0.01,-1.00) ball=(+3.907,-2.090,+0.035) r=0.60m +[headless_play] t= 3.40s step= 170 trunk_z= 113.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+4.016,-2.147,+0.035) r=0.60m +[headless_play] t= 3.50s step= 175 trunk_z= 113.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+4.126,-2.205,+0.035) r=0.60m +[headless_play] t= 3.60s step= 180 trunk_z= 113.1mm grav_b=(+0.00,-0.00,-1.00) ball=(+4.235,-2.263,+0.035) r=0.60m +[headless_play] t= 3.70s step= 185 trunk_z= 113.2mm grav_b=(+0.00,-0.00,-1.00) ball=(+4.345,-2.320,+0.035) r=0.60m +[headless_play] t= 3.80s step= 190 trunk_z= 113.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.454,-2.378,+0.035) r=0.60m +[headless_play] t= 3.90s step= 195 trunk_z= 113.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.564,-2.436,+0.035) r=0.60m +[headless_play] t= 4.00s step= 200 trunk_z= 113.2mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.673,-2.493,+0.035) r=0.61m +[headless_play] t= 4.10s step= 205 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.783,-2.551,+0.035) r=0.61m +[headless_play] t= 4.20s step= 210 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+4.892,-2.609,+0.035) r=0.61m +[headless_play] t= 4.30s step= 215 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.002,-2.666,+0.035) r=0.61m +[headless_play] t= 4.40s step= 220 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.111,-2.724,+0.035) r=0.61m +[headless_play] t= 4.50s step= 225 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.221,-2.782,+0.035) r=0.61m +[headless_play] t= 4.60s step= 230 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.330,-2.839,+0.035) r=0.61m +[headless_play] t= 4.70s step= 235 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.440,-2.897,+0.035) r=0.60m +[headless_play] t= 4.80s step= 240 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.549,-2.954,+0.035) r=0.61m +[headless_play] t= 4.90s step= 245 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.659,-3.012,+0.035) r=0.61m +[headless_play] t= 5.00s step= 250 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+5.768,-3.070,+0.035) r=0.61m +[headless_play] t= 5.10s step= 255 trunk_z= 113.3mm grav_b=(+0.00,-0.00,-1.00) ball=(+5.878,-3.127,+0.035) r=0.60m +[headless_play] t= 5.20s step= 260 trunk_z= 113.3mm grav_b=(+0.00,-0.00,-1.00) ball=(+5.987,-3.185,+0.035) r=0.60m +[headless_play] t= 5.30s step= 265 trunk_z= 113.3mm grav_b=(+0.00,-0.00,-1.00) ball=(+6.097,-3.243,+0.035) r=0.60m +[headless_play] t= 5.40s step= 270 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+6.206,-3.300,+0.035) r=0.60m +[headless_play] t= 5.50s step= 275 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+6.316,-3.358,+0.035) r=0.60m +[headless_play] t= 5.60s step= 280 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+6.425,-3.416,+0.035) r=0.61m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+6.535,-3.473,+0.035) r=0.61m +[headless_play] t= 5.80s step= 290 trunk_z= 113.3mm grav_b=(+0.01,-0.00,-1.00) ball=(+6.644,-3.531,+0.035) r=0.60m +[headless_play] t= 5.90s step= 295 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(+6.754,-3.589,+0.035) r=0.61m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.4mm grav_b=(+0.04,-0.05,-1.00) ball=(+0.481,-0.168,+0.035) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 121.3mm grav_b=(+0.03,+0.08,-1.00) ball=(+0.481,-0.168,+0.035) r=0.40m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..f7ebddf78b3961fd569ad6034b23fe5e30f28f43 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bknc-t9.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_16000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 117.1mm grav_b=(+0.02,-0.03,-1.00) root_w=(-0.259,-0.297,+0.117) ball=(-0.286,-0.198,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 117.1mm grav_b=(+0.02,-0.03,-1.00) ball=(-0.286,-0.198,+0.035) r=0.39m +[headless_play] t= 0.10s step= 5 trunk_z= 122.9mm grav_b=(-0.01,+0.12,-0.99) ball=(-0.286,-0.198,+0.035) r=0.39m +[headless_play] t= 0.20s step= 10 trunk_z= 127.8mm grav_b=(-0.18,+0.16,-0.97) ball=(-0.298,-0.134,+0.049) r=0.38m +[headless_play] t= 0.30s step= 15 trunk_z= 124.3mm grav_b=(-0.37,+0.13,-0.92) ball=(-0.319,+0.000,+0.033) r=0.35m +[headless_play] t= 0.40s step= 20 trunk_z= 113.8mm grav_b=(-0.02,-0.00,-1.00) ball=(-0.332,+0.120,+0.035) r=0.32m +[headless_play] t= 0.50s step= 25 trunk_z= 117.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.345,+0.240,+0.035) r=0.31m +[headless_play] t= 0.60s step= 30 trunk_z= 119.3mm grav_b=(-0.00,-0.00,-1.00) ball=(-0.358,+0.360,+0.035) r=0.31m +[headless_play] t= 0.70s step= 35 trunk_z= 113.9mm grav_b=(-0.03,-0.06,-1.00) ball=(-0.371,+0.480,+0.035) r=0.29m +[headless_play] t= 0.80s step= 40 trunk_z= 115.5mm grav_b=(-0.06,-0.04,-1.00) ball=(-0.384,+0.601,+0.035) r=0.28m +[headless_play] t= 0.90s step= 45 trunk_z= 115.2mm grav_b=(-0.06,-0.02,-1.00) ball=(-0.397,+0.721,+0.035) r=0.28m +[headless_play] t= 1.00s step= 50 trunk_z= 114.7mm grav_b=(-0.03,-0.00,-1.00) ball=(-0.410,+0.841,+0.035) r=0.28m +[headless_play] t= 1.10s step= 55 trunk_z= 114.7mm grav_b=(-0.01,+0.01,-1.00) ball=(-0.423,+0.961,+0.035) r=0.28m +[headless_play] t= 1.20s step= 60 trunk_z= 114.7mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.436,+1.081,+0.035) r=0.28m +[headless_play] t= 1.30s step= 65 trunk_z= 115.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.449,+1.201,+0.035) r=0.28m +[headless_play] t= 1.40s step= 70 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.462,+1.322,+0.035) r=0.28m +[headless_play] t= 1.50s step= 75 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.475,+1.442,+0.035) r=0.28m +[headless_play] t= 1.60s step= 80 trunk_z= 115.0mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.488,+1.562,+0.035) r=0.28m +[headless_play] t= 1.70s step= 85 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.500,+1.682,+0.035) r=0.28m +[headless_play] t= 1.80s step= 90 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.513,+1.802,+0.035) r=0.28m +[headless_play] t= 1.90s step= 95 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.526,+1.922,+0.035) r=0.28m +[headless_play] t= 2.00s step= 100 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.539,+2.043,+0.035) r=0.28m +[headless_play] t= 2.10s step= 105 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.552,+2.163,+0.035) r=0.28m +[headless_play] t= 2.20s step= 110 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.565,+2.283,+0.035) r=0.28m +[headless_play] t= 2.30s step= 115 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.578,+2.403,+0.035) r=0.28m +[headless_play] t= 2.40s step= 120 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.591,+2.523,+0.035) r=0.28m +[headless_play] t= 2.50s step= 125 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.604,+2.643,+0.035) r=0.28m +[headless_play] t= 2.60s step= 130 trunk_z= 115.1mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.617,+2.763,+0.035) r=0.28m +[headless_play] t= 2.70s step= 135 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.630,+2.884,+0.035) r=0.28m +[headless_play] t= 2.80s step= 140 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.643,+3.004,+0.035) r=0.28m +[headless_play] t= 2.90s step= 145 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.656,+3.124,+0.035) r=0.28m +[headless_play] t= 3.00s step= 150 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.669,+3.244,+0.035) r=0.28m +[headless_play] t= 3.10s step= 155 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.681,+3.364,+0.035) r=0.28m +[headless_play] t= 3.20s step= 160 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.694,+3.484,+0.035) r=0.28m +[headless_play] t= 3.30s step= 165 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.707,+3.605,+0.035) r=0.28m +[headless_play] t= 3.40s step= 170 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.720,+3.725,+0.035) r=0.28m +[headless_play] t= 3.50s step= 175 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.733,+3.845,+0.035) r=0.28m +[headless_play] t= 3.60s step= 180 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.746,+3.965,+0.035) r=0.28m +[headless_play] t= 3.70s step= 185 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.759,+4.085,+0.035) r=0.28m +[headless_play] t= 3.80s step= 190 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.772,+4.205,+0.035) r=0.28m +[headless_play] t= 3.90s step= 195 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.785,+4.326,+0.035) r=0.28m +[headless_play] t= 4.00s step= 200 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.798,+4.446,+0.035) r=0.28m +[headless_play] t= 4.10s step= 205 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.811,+4.566,+0.035) r=0.28m +[headless_play] t= 4.20s step= 210 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.824,+4.686,+0.035) r=0.28m +[headless_play] t= 4.30s step= 215 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.837,+4.806,+0.035) r=0.28m +[headless_play] t= 4.40s step= 220 trunk_z= 115.2mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.850,+4.926,+0.035) r=0.28m +[headless_play] t= 4.50s step= 225 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.863,+5.047,+0.035) r=0.28m +[headless_play] t= 4.60s step= 230 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.875,+5.167,+0.035) r=0.28m +[headless_play] t= 4.70s step= 235 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.888,+5.287,+0.035) r=0.28m +[headless_play] t= 4.80s step= 240 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.901,+5.407,+0.035) r=0.28m +[headless_play] t= 4.90s step= 245 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.914,+5.527,+0.035) r=0.28m +[headless_play] t= 5.00s step= 250 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.927,+5.647,+0.035) r=0.28m +[headless_play] t= 5.10s step= 255 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.940,+5.767,+0.035) r=0.28m +[headless_play] t= 5.20s step= 260 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.953,+5.888,+0.035) r=0.28m +[headless_play] t= 5.30s step= 265 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.966,+6.008,+0.035) r=0.28m +[headless_play] t= 5.40s step= 270 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.979,+6.128,+0.035) r=0.28m +[headless_play] t= 5.50s step= 275 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-0.992,+6.248,+0.035) r=0.28m +[headless_play] t= 5.60s step= 280 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-1.005,+6.368,+0.035) r=0.28m +[headless_play] t= 5.70s step= 285 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-1.018,+6.488,+0.035) r=0.28m +[headless_play] t= 5.80s step= 290 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-1.031,+6.609,+0.035) r=0.28m +[headless_play] t= 5.90s step= 295 trunk_z= 115.3mm grav_b=(-0.02,+0.01,-1.00) ball=(-1.044,+6.729,+0.035) r=0.28m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 112.9mm grav_b=(-0.06,+0.04,-1.00) ball=(+0.287,+0.326,+0.035) r=0.47m +[headless_play] t= 6.10s step= 305 trunk_z= 121.7mm grav_b=(-0.06,+0.14,-0.99) ball=(+0.287,+0.326,+0.035) r=0.49m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t1.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t1.log new file mode 100644 index 0000000000000000000000000000000000000000..cbdc51c458135c0cf2535b60b4214ccf8385ff55 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t1.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 110.3mm grav_b=(+0.02,-0.01,-1.00) root_w=(-0.185,+0.487,+0.110) ball=(-0.100,+0.423,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 111.9mm grav_b=(+0.01,-0.01,-1.00) ball=(-0.100,+0.423,+0.035) r=0.52m +[headless_play] t= 0.10s step= 5 trunk_z= 120.7mm grav_b=(+0.00,-0.02,-1.00) ball=(-0.097,+0.422,+0.036) r=0.51m +[headless_play] t= 0.20s step= 10 trunk_z= 113.0mm grav_b=(-0.00,-0.03,-1.00) ball=(+0.013,+0.410,+0.045) r=0.49m +[headless_play] t= 0.30s step= 15 trunk_z= 105.7mm grav_b=(-0.01,-0.04,-1.00) ball=(+0.115,+0.403,+0.034) r=0.46m +[headless_play] t= 0.40s step= 20 trunk_z= 111.5mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.214,+0.399,+0.035) r=0.45m +[headless_play] t= 0.50s step= 25 trunk_z= 112.1mm grav_b=(+0.05,+0.00,-1.00) ball=(+0.313,+0.395,+0.035) r=0.45m +[headless_play] t= 0.60s step= 30 trunk_z= 112.2mm grav_b=(+0.05,+0.00,-1.00) ball=(+0.412,+0.391,+0.035) r=0.45m +[headless_play] t= 0.70s step= 35 trunk_z= 112.3mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.511,+0.387,+0.035) r=0.45m +[headless_play] t= 0.80s step= 40 trunk_z= 112.3mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.610,+0.382,+0.035) r=0.45m +[headless_play] t= 0.90s step= 45 trunk_z= 112.3mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.709,+0.378,+0.035) r=0.45m +[headless_play] t= 1.00s step= 50 trunk_z= 112.3mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.808,+0.374,+0.035) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 112.4mm grav_b=(+0.04,-0.00,-1.00) ball=(+0.907,+0.370,+0.035) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 112.4mm grav_b=(+0.04,-0.00,-1.00) ball=(+1.006,+0.366,+0.035) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 112.5mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.106,+0.362,+0.035) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 112.5mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.205,+0.358,+0.035) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 112.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.304,+0.354,+0.035) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 112.6mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.403,+0.350,+0.035) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 112.6mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.502,+0.346,+0.035) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 112.7mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.601,+0.341,+0.035) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 112.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+1.700,+0.337,+0.035) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 112.7mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.799,+0.333,+0.035) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 112.8mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.898,+0.329,+0.035) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 112.8mm grav_b=(+0.03,-0.01,-1.00) ball=(+1.997,+0.325,+0.035) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 112.8mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.096,+0.321,+0.035) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 112.8mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.195,+0.317,+0.035) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 112.9mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.294,+0.313,+0.035) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 112.8mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.393,+0.309,+0.035) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 112.9mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.492,+0.305,+0.035) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 112.9mm grav_b=(+0.03,-0.01,-1.00) ball=(+2.591,+0.300,+0.035) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 112.9mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.690,+0.296,+0.035) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.789,+0.292,+0.035) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.888,+0.288,+0.035) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+2.987,+0.284,+0.035) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.086,+0.280,+0.035) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.185,+0.276,+0.035) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.284,+0.272,+0.035) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.383,+0.268,+0.035) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 113.0mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.482,+0.263,+0.035) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 113.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.581,+0.259,+0.035) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 113.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.680,+0.255,+0.035) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 113.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.779,+0.251,+0.035) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 113.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.878,+0.247,+0.035) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+3.977,+0.243,+0.035) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.076,+0.239,+0.035) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.175,+0.235,+0.035) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.274,+0.231,+0.035) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.373,+0.227,+0.035) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.472,+0.222,+0.035) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.571,+0.218,+0.035) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.670,+0.214,+0.035) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.769,+0.210,+0.035) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 113.2mm grav_b=(+0.01,-0.01,-1.00) ball=(+4.868,+0.206,+0.035) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+4.967,+0.202,+0.035) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.066,+0.198,+0.035) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 113.2mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.165,+0.194,+0.035) r=0.46m +[headless_play] t= 5.50s step= 275 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.264,+0.190,+0.035) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.363,+0.185,+0.035) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.462,+0.181,+0.035) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.561,+0.177,+0.035) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 113.3mm grav_b=(+0.02,-0.01,-1.00) ball=(+5.660,+0.173,+0.035) r=0.46m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.3mm grav_b=(+0.00,-0.08,-1.00) ball=(+0.231,-0.140,+0.035) r=0.19m +[headless_play] t= 6.10s step= 305 trunk_z= 122.8mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.253,-0.147,+0.048) r=0.20m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t10.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t10.log new file mode 100644 index 0000000000000000000000000000000000000000..3edd03a0049a91ce87f27ba75300af2588d18919 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t10.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 111.4mm grav_b=(-0.03,+0.08,-1.00) root_w=(+0.173,+0.028,+0.111) ball=(+0.257,-0.000,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 113.4mm grav_b=(-0.03,+0.08,-1.00) ball=(+0.257,-0.000,+0.035) r=0.18m +[headless_play] t= 0.10s step= 5 trunk_z= 123.8mm grav_b=(-0.04,+0.10,-0.99) ball=(+0.277,+0.008,+0.045) r=0.19m +[headless_play] t= 0.20s step= 10 trunk_z= 119.1mm grav_b=(-0.08,+0.07,-0.99) ball=(+0.405,+0.070,+0.073) r=0.18m +[headless_play] t= 0.30s step= 15 trunk_z= 103.5mm grav_b=(-0.03,-0.03,-1.00) ball=(+0.526,+0.130,+0.031) r=0.18m +[headless_play] t= 0.40s step= 20 trunk_z= 112.3mm grav_b=(+0.06,+0.01,-1.00) ball=(+0.623,+0.183,+0.035) r=0.17m +[headless_play] t= 0.50s step= 25 trunk_z= 114.1mm grav_b=(+0.02,-0.01,-1.00) ball=(+0.720,+0.236,+0.035) r=0.17m +[headless_play] t= 0.60s step= 30 trunk_z= 113.5mm grav_b=(+0.02,+0.00,-1.00) ball=(+0.818,+0.289,+0.035) r=0.17m +[headless_play] t= 0.70s step= 35 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(+0.915,+0.342,+0.035) r=0.17m +[headless_play] t= 0.80s step= 40 trunk_z= 113.4mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.013,+0.394,+0.035) r=0.17m +[headless_play] t= 0.90s step= 45 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.111,+0.447,+0.035) r=0.17m +[headless_play] t= 1.00s step= 50 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(+1.208,+0.500,+0.035) r=0.17m +[headless_play] t= 1.10s step= 55 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.306,+0.553,+0.035) r=0.17m +[headless_play] t= 1.20s step= 60 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.403,+0.606,+0.035) r=0.17m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.501,+0.659,+0.035) r=0.17m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.598,+0.712,+0.035) r=0.17m +[headless_play] t= 1.50s step= 75 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.696,+0.765,+0.035) r=0.17m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.794,+0.818,+0.035) r=0.17m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.891,+0.871,+0.035) r=0.17m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+1.989,+0.924,+0.035) r=0.16m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.086,+0.977,+0.035) r=0.17m +[headless_play] t= 2.00s step= 100 trunk_z= 113.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.184,+1.029,+0.035) r=0.16m +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.282,+1.082,+0.035) r=0.16m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.379,+1.135,+0.035) r=0.16m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.477,+1.188,+0.035) r=0.16m +[headless_play] t= 2.40s step= 120 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.574,+1.241,+0.035) r=0.16m +[headless_play] t= 2.50s step= 125 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.672,+1.294,+0.035) r=0.16m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.769,+1.347,+0.035) r=0.16m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.867,+1.400,+0.035) r=0.16m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+2.965,+1.453,+0.035) r=0.16m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.062,+1.506,+0.035) r=0.16m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.160,+1.559,+0.035) r=0.16m +[headless_play] t= 3.10s step= 155 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.257,+1.612,+0.035) r=0.16m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(+0.01,+0.00,-1.00) ball=(+3.355,+1.664,+0.035) r=0.16m +[headless_play] t= 3.30s step= 165 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.453,+1.717,+0.035) r=0.16m +[headless_play] t= 3.40s step= 170 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.550,+1.770,+0.035) r=0.16m +[headless_play] t= 3.50s step= 175 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.648,+1.823,+0.035) r=0.16m +[headless_play] t= 3.60s step= 180 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.745,+1.876,+0.035) r=0.16m +[headless_play] t= 3.70s step= 185 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+3.843,+1.929,+0.035) r=0.16m +[headless_play] t= 3.80s step= 190 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+3.940,+1.982,+0.035) r=0.16m +[headless_play] t= 3.90s step= 195 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.038,+2.035,+0.035) r=0.16m +[headless_play] t= 4.00s step= 200 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.136,+2.088,+0.035) r=0.16m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.233,+2.141,+0.035) r=0.16m +[headless_play] t= 4.20s step= 210 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.331,+2.194,+0.035) r=0.16m +[headless_play] t= 4.30s step= 215 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.428,+2.247,+0.035) r=0.16m +[headless_play] t= 4.40s step= 220 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.526,+2.299,+0.035) r=0.16m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(+0.02,+0.01,-1.00) ball=(+4.624,+2.352,+0.035) r=0.16m +[headless_play] t= 4.60s step= 230 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.721,+2.405,+0.035) r=0.16m +[headless_play] t= 4.70s step= 235 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.819,+2.458,+0.035) r=0.16m +[headless_play] t= 4.80s step= 240 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+4.916,+2.511,+0.035) r=0.16m +[headless_play] t= 4.90s step= 245 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.014,+2.564,+0.035) r=0.16m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.111,+2.617,+0.035) r=0.16m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.209,+2.670,+0.035) r=0.16m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.307,+2.723,+0.035) r=0.16m +[headless_play] t= 5.30s step= 265 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.404,+2.776,+0.035) r=0.16m +[headless_play] t= 5.40s step= 270 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.502,+2.829,+0.035) r=0.16m +[headless_play] t= 5.50s step= 275 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.599,+2.882,+0.035) r=0.16m +[headless_play] t= 5.60s step= 280 trunk_z= 114.1mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.697,+2.934,+0.035) r=0.16m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.795,+2.987,+0.035) r=0.16m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.892,+3.040,+0.035) r=0.16m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(+0.01,+0.01,-1.00) ball=(+5.990,+3.093,+0.035) r=0.16m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.9mm grav_b=(-0.03,+0.01,-1.00) ball=(+0.049,+0.347,+0.035) r=0.43m +[headless_play] t= 6.10s step= 305 trunk_z= 123.3mm grav_b=(-0.02,+0.07,-1.00) ball=(+0.070,+0.334,+0.048) r=0.42m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t2.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t2.log new file mode 100644 index 0000000000000000000000000000000000000000..d5c34c1d7749b061ab64dca2f8ba8d3faa20ad9f --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t2.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 119.9mm grav_b=(+0.07,-0.06,-1.00) root_w=(-0.460,-0.405,+0.120) ball=(-0.487,-0.495,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 119.4mm grav_b=(+0.07,-0.06,-1.00) ball=(-0.487,-0.495,+0.035) r=0.61m +[headless_play] t= 0.10s step= 5 trunk_z= 119.8mm grav_b=(+0.04,+0.01,-1.00) ball=(-0.486,-0.502,+0.039) r=0.60m +[headless_play] t= 0.20s step= 10 trunk_z= 116.8mm grav_b=(-0.06,+0.09,-0.99) ball=(-0.468,-0.637,+0.083) r=0.61m +[headless_play] t= 0.30s step= 15 trunk_z= 108.3mm grav_b=(+0.02,+0.12,-0.99) ball=(-0.451,-0.775,+0.032) r=0.62m +[headless_play] t= 0.40s step= 20 trunk_z= 114.3mm grav_b=(-0.01,+0.10,-0.99) ball=(-0.445,-0.882,+0.034) r=0.63m +[headless_play] t= 0.50s step= 25 trunk_z= 111.9mm grav_b=(-0.03,+0.04,-1.00) ball=(-0.440,-0.990,+0.035) r=0.63m +[headless_play] t= 0.60s step= 30 trunk_z= 112.5mm grav_b=(-0.04,+0.03,-1.00) ball=(-0.435,-1.097,+0.035) r=0.63m +[headless_play] t= 0.70s step= 35 trunk_z= 112.3mm grav_b=(-0.03,+0.03,-1.00) ball=(-0.430,-1.204,+0.035) r=0.63m +[headless_play] t= 0.80s step= 40 trunk_z= 112.5mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.425,-1.311,+0.035) r=0.63m +[headless_play] t= 0.90s step= 45 trunk_z= 112.3mm grav_b=(-0.01,+0.02,-1.00) ball=(-0.420,-1.419,+0.035) r=0.63m +[headless_play] t= 1.00s step= 50 trunk_z= 112.4mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.415,-1.526,+0.035) r=0.63m +[headless_play] t= 1.10s step= 55 trunk_z= 112.5mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.409,-1.633,+0.035) r=0.63m +[headless_play] t= 1.20s step= 60 trunk_z= 112.5mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.404,-1.741,+0.035) r=0.63m +[headless_play] t= 1.30s step= 65 trunk_z= 112.5mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.399,-1.848,+0.035) r=0.63m +[headless_play] t= 1.40s step= 70 trunk_z= 112.6mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.394,-1.955,+0.035) r=0.63m +[headless_play] t= 1.50s step= 75 trunk_z= 112.7mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.389,-2.063,+0.035) r=0.63m +[headless_play] t= 1.60s step= 80 trunk_z= 112.7mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.384,-2.170,+0.035) r=0.63m +[headless_play] t= 1.70s step= 85 trunk_z= 112.8mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.379,-2.277,+0.035) r=0.63m +[headless_play] t= 1.80s step= 90 trunk_z= 112.8mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.374,-2.384,+0.035) r=0.63m +[headless_play] t= 1.90s step= 95 trunk_z= 112.8mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.369,-2.492,+0.035) r=0.63m +[headless_play] t= 2.00s step= 100 trunk_z= 112.9mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.364,-2.599,+0.035) r=0.63m +[headless_play] t= 2.10s step= 105 trunk_z= 112.9mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.359,-2.706,+0.035) r=0.63m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.354,-2.814,+0.035) r=0.63m +[headless_play] t= 2.30s step= 115 trunk_z= 113.0mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.349,-2.921,+0.035) r=0.63m +[headless_play] t= 2.40s step= 120 trunk_z= 113.0mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.344,-3.028,+0.035) r=0.63m +[headless_play] t= 2.50s step= 125 trunk_z= 113.1mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.339,-3.135,+0.035) r=0.63m +[headless_play] t= 2.60s step= 130 trunk_z= 113.1mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.334,-3.243,+0.035) r=0.63m +[headless_play] t= 2.70s step= 135 trunk_z= 113.1mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.328,-3.350,+0.035) r=0.63m +[headless_play] t= 2.80s step= 140 trunk_z= 113.2mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.323,-3.457,+0.035) r=0.63m +[headless_play] t= 2.90s step= 145 trunk_z= 113.2mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.318,-3.565,+0.035) r=0.63m +[headless_play] t= 3.00s step= 150 trunk_z= 113.2mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.313,-3.672,+0.035) r=0.63m +[headless_play] t= 3.10s step= 155 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.308,-3.779,+0.035) r=0.63m +[headless_play] t= 3.20s step= 160 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.303,-3.887,+0.035) r=0.63m +[headless_play] t= 3.30s step= 165 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.298,-3.994,+0.035) r=0.63m +[headless_play] t= 3.40s step= 170 trunk_z= 113.3mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.293,-4.101,+0.035) r=0.63m +[headless_play] t= 3.50s step= 175 trunk_z= 113.3mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.288,-4.208,+0.035) r=0.63m +[headless_play] t= 3.60s step= 180 trunk_z= 113.3mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.283,-4.316,+0.035) r=0.63m +[headless_play] t= 3.70s step= 185 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.278,-4.423,+0.035) r=0.63m +[headless_play] t= 3.80s step= 190 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.273,-4.530,+0.035) r=0.63m +[headless_play] t= 3.90s step= 195 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.268,-4.638,+0.035) r=0.63m +[headless_play] t= 4.00s step= 200 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.263,-4.745,+0.035) r=0.63m +[headless_play] t= 4.10s step= 205 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.258,-4.852,+0.035) r=0.63m +[headless_play] t= 4.20s step= 210 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.252,-4.960,+0.035) r=0.63m +[headless_play] t= 4.30s step= 215 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.247,-5.067,+0.035) r=0.63m +[headless_play] t= 4.40s step= 220 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.242,-5.174,+0.035) r=0.63m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.237,-5.281,+0.035) r=0.63m +[headless_play] t= 4.60s step= 230 trunk_z= 113.4mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.232,-5.389,+0.035) r=0.63m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.227,-5.496,+0.035) r=0.63m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.222,-5.603,+0.035) r=0.63m +[headless_play] t= 4.90s step= 245 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.217,-5.711,+0.035) r=0.63m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.212,-5.818,+0.035) r=0.63m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.207,-5.925,+0.035) r=0.63m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.202,-6.032,+0.035) r=0.63m +[headless_play] t= 5.30s step= 265 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.197,-6.140,+0.035) r=0.63m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.192,-6.247,+0.035) r=0.63m +[headless_play] t= 5.50s step= 275 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) ball=(-0.187,-6.354,+0.035) r=0.63m +[headless_play] t= 5.60s step= 280 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) ball=(-0.182,-6.462,+0.035) r=0.63m +[headless_play] t= 5.70s step= 285 trunk_z= 113.6mm grav_b=(-0.00,+0.02,-1.00) ball=(-0.177,-6.569,+0.035) r=0.63m +[headless_play] t= 5.80s step= 290 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.171,-6.676,+0.035) r=0.63m +[headless_play] t= 5.90s step= 295 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.166,-6.784,+0.035) r=0.63m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 114.4mm grav_b=(+0.00,-0.01,-1.00) ball=(-0.544,-0.058,+0.035) r=0.46m +[headless_play] t= 6.10s step= 305 trunk_z= 121.4mm grav_b=(+0.02,-0.02,-1.00) ball=(-0.552,-0.068,+0.043) r=0.47m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t3.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t3.log new file mode 100644 index 0000000000000000000000000000000000000000..a26441f75c36b6e41a0bac5b74f1ef316e2b5bfb --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t3.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 117.7mm grav_b=(-0.06,+0.01,-1.00) root_w=(+0.151,+0.143,+0.118) ball=(+0.181,+0.245,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 118.0mm grav_b=(-0.07,+0.01,-1.00) ball=(+0.181,+0.245,+0.035) r=0.21m +[headless_play] t= 0.10s step= 5 trunk_z= 123.5mm grav_b=(-0.05,+0.03,-1.00) ball=(+0.175,+0.263,+0.044) r=0.21m +[headless_play] t= 0.20s step= 10 trunk_z= 118.1mm grav_b=(-0.06,+0.06,-1.00) ball=(+0.139,+0.374,+0.048) r=0.23m +[headless_play] t= 0.30s step= 15 trunk_z= 108.3mm grav_b=(+0.01,+0.04,-1.00) ball=(+0.101,+0.472,+0.034) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 112.0mm grav_b=(+0.05,+0.06,-1.00) ball=(+0.062,+0.566,+0.035) r=0.27m +[headless_play] t= 0.50s step= 25 trunk_z= 112.1mm grav_b=(+0.04,+0.04,-1.00) ball=(+0.023,+0.660,+0.035) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 112.1mm grav_b=(+0.04,+0.04,-1.00) ball=(-0.016,+0.753,+0.035) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 112.1mm grav_b=(+0.04,+0.04,-1.00) ball=(-0.055,+0.847,+0.035) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 112.1mm grav_b=(+0.04,+0.04,-1.00) ball=(-0.095,+0.941,+0.035) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 112.2mm grav_b=(+0.05,+0.04,-1.00) ball=(-0.134,+1.035,+0.035) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 112.3mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.173,+1.129,+0.035) r=0.27m +[headless_play] t= 1.10s step= 55 trunk_z= 112.3mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.212,+1.222,+0.035) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 112.4mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.251,+1.316,+0.035) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 112.5mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.290,+1.410,+0.035) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 112.6mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.329,+1.504,+0.035) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 112.6mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.369,+1.598,+0.035) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 112.7mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.408,+1.691,+0.035) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 112.8mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.447,+1.785,+0.035) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 112.8mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.486,+1.879,+0.035) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 112.9mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.525,+1.973,+0.035) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 112.9mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.564,+2.066,+0.035) r=0.27m +[headless_play] t= 2.10s step= 105 trunk_z= 112.9mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.603,+2.160,+0.035) r=0.27m +[headless_play] t= 2.20s step= 110 trunk_z= 113.0mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.643,+2.254,+0.035) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 113.0mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.682,+2.348,+0.035) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 113.1mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.721,+2.442,+0.035) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 113.1mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.760,+2.535,+0.035) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 113.1mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.799,+2.629,+0.035) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 113.1mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.838,+2.723,+0.035) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 113.2mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.877,+2.817,+0.035) r=0.27m +[headless_play] t= 2.90s step= 145 trunk_z= 113.2mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.917,+2.911,+0.035) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 113.2mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.956,+3.004,+0.035) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 113.2mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.995,+3.098,+0.035) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 113.2mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.034,+3.192,+0.035) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.073,+3.286,+0.035) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.112,+3.379,+0.035) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.152,+3.473,+0.035) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.191,+3.567,+0.035) r=0.27m +[headless_play] t= 3.70s step= 185 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.230,+3.661,+0.035) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.269,+3.755,+0.035) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.308,+3.848,+0.035) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.347,+3.942,+0.035) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 113.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.386,+4.036,+0.035) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.426,+4.130,+0.035) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.465,+4.224,+0.035) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.504,+4.317,+0.035) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.543,+4.411,+0.035) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.582,+4.505,+0.035) r=0.27m +[headless_play] t= 4.70s step= 235 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.621,+4.599,+0.035) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.660,+4.692,+0.035) r=0.27m +[headless_play] t= 4.90s step= 245 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.700,+4.786,+0.035) r=0.27m +[headless_play] t= 5.00s step= 250 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.739,+4.880,+0.035) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.778,+4.974,+0.035) r=0.27m +[headless_play] t= 5.20s step= 260 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.817,+5.068,+0.035) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.856,+5.161,+0.035) r=0.27m +[headless_play] t= 5.40s step= 270 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-1.895,+5.255,+0.035) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.934,+5.349,+0.035) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-1.974,+5.443,+0.035) r=0.27m +[headless_play] t= 5.70s step= 285 trunk_z= 113.4mm grav_b=(+0.04,+0.02,-1.00) ball=(-2.013,+5.537,+0.035) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-2.052,+5.630,+0.035) r=0.27m +[headless_play] t= 5.90s step= 295 trunk_z= 113.4mm grav_b=(+0.03,+0.02,-1.00) ball=(-2.091,+5.724,+0.035) r=0.27m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.8mm grav_b=(+0.04,-0.02,-1.00) ball=(+0.172,+0.073,+0.035) r=0.27m +[headless_play] t= 6.10s step= 305 trunk_z= 123.9mm grav_b=(+0.03,+0.05,-1.00) ball=(+0.172,+0.073,+0.035) r=0.26m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t4.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t4.log new file mode 100644 index 0000000000000000000000000000000000000000..72645e66e295b6a0ece9014c37a1cc16fb690ce2 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t4.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 112.9mm grav_b=(-0.04,+0.02,-1.00) root_w=(+0.233,+0.237,+0.113) ball=(+0.286,+0.310,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 114.1mm grav_b=(-0.05,+0.02,-1.00) ball=(+0.286,+0.310,+0.035) r=0.33m +[headless_play] t= 0.10s step= 5 trunk_z= 121.5mm grav_b=(-0.01,+0.05,-1.00) ball=(+0.286,+0.327,+0.046) r=0.34m +[headless_play] t= 0.20s step= 10 trunk_z= 116.1mm grav_b=(-0.01,+0.02,-1.00) ball=(+0.274,+0.459,+0.106) r=0.36m +[headless_play] t= 0.30s step= 15 trunk_z= 108.2mm grav_b=(+0.01,-0.07,-1.00) ball=(+0.261,+0.592,+0.070) r=0.39m +[headless_play] t= 0.40s step= 20 trunk_z= 114.9mm grav_b=(+0.08,+0.04,-1.00) ball=(+0.245,+0.703,+0.033) r=0.41m +[headless_play] t= 0.50s step= 25 trunk_z= 116.1mm grav_b=(+0.06,+0.04,-1.00) ball=(+0.226,+0.802,+0.035) r=0.41m +[headless_play] t= 0.60s step= 30 trunk_z= 115.2mm grav_b=(+0.05,+0.05,-1.00) ball=(+0.207,+0.901,+0.035) r=0.40m +[headless_play] t= 0.70s step= 35 trunk_z= 114.0mm grav_b=(+0.02,+0.04,-1.00) ball=(+0.189,+0.999,+0.035) r=0.40m +[headless_play] t= 0.80s step= 40 trunk_z= 113.8mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.170,+1.098,+0.035) r=0.41m +[headless_play] t= 0.90s step= 45 trunk_z= 113.8mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.151,+1.197,+0.035) r=0.41m +[headless_play] t= 1.00s step= 50 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.133,+1.296,+0.035) r=0.40m +[headless_play] t= 1.10s step= 55 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.114,+1.394,+0.035) r=0.40m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.095,+1.493,+0.035) r=0.40m +[headless_play] t= 1.30s step= 65 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.077,+1.592,+0.035) r=0.40m +[headless_play] t= 1.40s step= 70 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.058,+1.691,+0.035) r=0.40m +[headless_play] t= 1.50s step= 75 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.039,+1.789,+0.035) r=0.40m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.020,+1.888,+0.035) r=0.40m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.002,+1.987,+0.035) r=0.40m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.017,+2.086,+0.035) r=0.40m +[headless_play] t= 1.90s step= 95 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.036,+2.184,+0.035) r=0.40m +[headless_play] t= 2.00s step= 100 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.054,+2.283,+0.035) r=0.40m +[headless_play] t= 2.10s step= 105 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.073,+2.382,+0.035) r=0.40m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.092,+2.481,+0.035) r=0.40m +[headless_play] t= 2.30s step= 115 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.110,+2.579,+0.035) r=0.40m +[headless_play] t= 2.40s step= 120 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.129,+2.678,+0.035) r=0.40m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.148,+2.777,+0.035) r=0.40m +[headless_play] t= 2.60s step= 130 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.166,+2.876,+0.035) r=0.40m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.185,+2.974,+0.035) r=0.40m +[headless_play] t= 2.80s step= 140 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.204,+3.073,+0.035) r=0.40m +[headless_play] t= 2.90s step= 145 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.222,+3.172,+0.035) r=0.40m +[headless_play] t= 3.00s step= 150 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.241,+3.271,+0.035) r=0.40m +[headless_play] t= 3.10s step= 155 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.260,+3.369,+0.035) r=0.40m +[headless_play] t= 3.20s step= 160 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.279,+3.468,+0.035) r=0.40m +[headless_play] t= 3.30s step= 165 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.297,+3.567,+0.035) r=0.40m +[headless_play] t= 3.40s step= 170 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.316,+3.666,+0.035) r=0.40m +[headless_play] t= 3.50s step= 175 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.335,+3.764,+0.035) r=0.40m +[headless_play] t= 3.60s step= 180 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.353,+3.863,+0.035) r=0.40m +[headless_play] t= 3.70s step= 185 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.372,+3.962,+0.035) r=0.40m +[headless_play] t= 3.80s step= 190 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.391,+4.061,+0.035) r=0.40m +[headless_play] t= 3.90s step= 195 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.409,+4.159,+0.035) r=0.40m +[headless_play] t= 4.00s step= 200 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.428,+4.258,+0.035) r=0.40m +[headless_play] t= 4.10s step= 205 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.447,+4.357,+0.035) r=0.40m +[headless_play] t= 4.20s step= 210 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.465,+4.456,+0.035) r=0.40m +[headless_play] t= 4.30s step= 215 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.484,+4.554,+0.035) r=0.40m +[headless_play] t= 4.40s step= 220 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.503,+4.653,+0.035) r=0.40m +[headless_play] t= 4.50s step= 225 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.522,+4.752,+0.035) r=0.40m +[headless_play] t= 4.60s step= 230 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.540,+4.851,+0.035) r=0.40m +[headless_play] t= 4.70s step= 235 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.559,+4.949,+0.035) r=0.40m +[headless_play] t= 4.80s step= 240 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.578,+5.048,+0.035) r=0.40m +[headless_play] t= 4.90s step= 245 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.596,+5.147,+0.035) r=0.40m +[headless_play] t= 5.00s step= 250 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.615,+5.246,+0.035) r=0.40m +[headless_play] t= 5.10s step= 255 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.634,+5.344,+0.035) r=0.40m +[headless_play] t= 5.20s step= 260 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.652,+5.443,+0.035) r=0.40m +[headless_play] t= 5.30s step= 265 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.671,+5.542,+0.035) r=0.40m +[headless_play] t= 5.40s step= 270 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.690,+5.641,+0.035) r=0.40m +[headless_play] t= 5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.708,+5.739,+0.035) r=0.40m +[headless_play] t= 5.60s step= 280 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.727,+5.838,+0.035) r=0.40m +[headless_play] t= 5.70s step= 285 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.746,+5.937,+0.035) r=0.40m +[headless_play] t= 5.80s step= 290 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.765,+6.036,+0.035) r=0.40m +[headless_play] t= 5.90s step= 295 trunk_z= 113.7mm grav_b=(+0.01,+0.03,-1.00) ball=(-0.783,+6.134,+0.035) r=0.40m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.7mm grav_b=(+0.01,-0.01,-1.00) ball=(+0.496,+0.053,+0.035) r=0.40m +[headless_play] t= 6.10s step= 305 trunk_z= 123.3mm grav_b=(+0.01,+0.05,-1.00) ball=(+0.497,+0.055,+0.036) r=0.41m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t5.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t5.log new file mode 100644 index 0000000000000000000000000000000000000000..7b02af96595620d3c0a9c65fefdd583943ec69fd --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t5.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.9mm grav_b=(-0.02,+0.00,-1.00) root_w=(+0.306,-0.221,+0.116) ball=(+0.214,-0.247,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00) ball=(+0.214,-0.247,+0.035) r=0.38m +[headless_play] t= 0.10s step= 5 trunk_z= 124.3mm grav_b=(+0.01,+0.06,-1.00) ball=(+0.200,-0.264,+0.050) r=0.38m +[headless_play] t= 0.20s step= 10 trunk_z= 118.9mm grav_b=(-0.03,+0.06,-1.00) ball=(+0.116,-0.378,+0.118) r=0.37m +[headless_play] t= 0.30s step= 15 trunk_z= 107.2mm grav_b=(+0.02,+0.02,-1.00) ball=(+0.031,-0.493,+0.091) r=0.34m +[headless_play] t= 0.40s step= 20 trunk_z= 114.4mm grav_b=(-0.00,+0.05,-1.00) ball=(-0.043,-0.594,+0.032) r=0.32m +[headless_play] t= 0.50s step= 25 trunk_z= 113.2mm grav_b=(-0.01,+0.03,-1.00) ball=(-0.103,-0.676,+0.035) r=0.32m +[headless_play] t= 0.60s step= 30 trunk_z= 113.1mm grav_b=(-0.00,+0.03,-1.00) ball=(-0.163,-0.759,+0.035) r=0.32m +[headless_play] t= 0.70s step= 35 trunk_z= 112.9mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.223,-0.841,+0.035) r=0.32m +[headless_play] t= 0.80s step= 40 trunk_z= 113.0mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.284,-0.923,+0.035) r=0.32m +[headless_play] t= 0.90s step= 45 trunk_z= 113.1mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.344,-1.006,+0.035) r=0.32m +[headless_play] t= 1.00s step= 50 trunk_z= 113.1mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.404,-1.088,+0.035) r=0.32m +[headless_play] t= 1.10s step= 55 trunk_z= 113.2mm grav_b=(+0.01,+0.02,-1.00) ball=(-0.465,-1.171,+0.035) r=0.32m +[headless_play] t= 1.20s step= 60 trunk_z= 113.3mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.525,-1.253,+0.035) r=0.32m +[headless_play] t= 1.30s step= 65 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.585,-1.335,+0.035) r=0.32m +[headless_play] t= 1.40s step= 70 trunk_z= 113.4mm grav_b=(+0.00,+0.02,-1.00) ball=(-0.646,-1.418,+0.035) r=0.32m +[headless_play] t= 1.50s step= 75 trunk_z= 113.4mm grav_b=(+0.00,+0.01,-1.00) ball=(-0.706,-1.500,+0.035) r=0.32m +[headless_play] t= 1.60s step= 80 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.766,-1.583,+0.035) r=0.32m +[headless_play] t= 1.70s step= 85 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.826,-1.665,+0.035) r=0.32m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.887,-1.747,+0.035) r=0.32m +[headless_play] t= 1.90s step= 95 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(-0.947,-1.830,+0.035) r=0.32m +[headless_play] t= 2.00s step= 100 trunk_z= 113.6mm grav_b=(-0.00,+0.01,-1.00) ball=(-1.007,-1.912,+0.035) r=0.32m +[headless_play] t= 2.10s step= 105 trunk_z= 113.6mm grav_b=(-0.01,+0.01,-1.00) ball=(-1.068,-1.995,+0.035) r=0.32m +[headless_play] t= 2.20s step= 110 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(-1.128,-2.077,+0.035) r=0.32m +[headless_play] t= 2.30s step= 115 trunk_z= 113.7mm grav_b=(-0.01,+0.01,-1.00) ball=(-1.188,-2.160,+0.035) r=0.32m +[headless_play] t= 2.40s step= 120 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(-1.248,-2.242,+0.035) r=0.32m +[headless_play] t= 2.50s step= 125 trunk_z= 113.7mm grav_b=(-0.00,+0.01,-1.00) ball=(-1.309,-2.324,+0.035) r=0.33m +[headless_play] t= 2.60s step= 130 trunk_z= 113.8mm grav_b=(-0.00,+0.01,-1.00) ball=(-1.369,-2.407,+0.035) r=0.33m +[headless_play] t= 2.70s step= 135 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.429,-2.489,+0.035) r=0.33m +[headless_play] t= 2.80s step= 140 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.490,-2.572,+0.035) r=0.33m +[headless_play] t= 2.90s step= 145 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.550,-2.654,+0.035) r=0.33m +[headless_play] t= 3.00s step= 150 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.610,-2.736,+0.035) r=0.33m +[headless_play] t= 3.10s step= 155 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.671,-2.819,+0.035) r=0.33m +[headless_play] t= 3.20s step= 160 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.731,-2.901,+0.035) r=0.33m +[headless_play] t= 3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.791,-2.984,+0.035) r=0.33m +[headless_play] t= 3.40s step= 170 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.851,-3.066,+0.035) r=0.33m +[headless_play] t= 3.50s step= 175 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-1.912,-3.148,+0.035) r=0.33m +[headless_play] t= 3.60s step= 180 trunk_z= 113.9mm grav_b=(-0.00,+0.01,-1.00) ball=(-1.972,-3.231,+0.035) r=0.33m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(-0.00,+0.01,-1.00) ball=(-2.032,-3.313,+0.035) r=0.33m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.093,-3.396,+0.035) r=0.33m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.153,-3.478,+0.035) r=0.33m +[headless_play] t= 4.00s step= 200 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.213,-3.560,+0.035) r=0.33m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.273,-3.643,+0.035) r=0.33m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.334,-3.725,+0.035) r=0.33m +[headless_play] t= 4.30s step= 215 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.394,-3.808,+0.035) r=0.33m +[headless_play] t= 4.40s step= 220 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.454,-3.890,+0.035) r=0.33m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.515,-3.972,+0.035) r=0.33m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.575,-4.055,+0.035) r=0.33m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.635,-4.137,+0.035) r=0.33m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.695,-4.220,+0.035) r=0.33m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-2.756,-4.302,+0.035) r=0.33m +[headless_play] t= 5.00s step= 250 trunk_z= 113.9mm grav_b=(-0.00,+0.01,-1.00) ball=(-2.816,-4.385,+0.035) r=0.33m +[headless_play] t= 5.10s step= 255 trunk_z= 113.9mm grav_b=(+0.00,+0.01,-1.00) ball=(-2.876,-4.467,+0.035) r=0.33m +[headless_play] t= 5.20s step= 260 trunk_z= 113.9mm grav_b=(-0.00,+0.01,-1.00) ball=(-2.937,-4.549,+0.035) r=0.33m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-2.997,-4.632,+0.035) r=0.33m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.057,-4.714,+0.035) r=0.33m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.118,-4.797,+0.035) r=0.33m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.178,-4.879,+0.035) r=0.33m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.238,-4.961,+0.035) r=0.33m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.298,-5.044,+0.035) r=0.33m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(-0.00,+0.01,-1.00) ball=(-3.359,-5.126,+0.035) r=0.33m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 113.5mm grav_b=(+0.04,+0.00,-1.00) ball=(+0.445,-0.397,+0.035) r=0.49m +[headless_play] t= 6.10s step= 305 trunk_z= 122.3mm grav_b=(+0.01,+0.04,-1.00) ball=(+0.459,-0.400,+0.041) r=0.50m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t6.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t6.log new file mode 100644 index 0000000000000000000000000000000000000000..2326f22c123e874ae69fc46e859e4e0c6a8bded3 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t6.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.9mm grav_b=(-0.03,+0.06,-1.00) root_w=(-0.056,+0.365,+0.114) ball=(-0.158,+0.348,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 115.1mm grav_b=(-0.03,+0.06,-1.00) ball=(-0.158,+0.348,+0.035) r=0.37m +[headless_play] t= 0.10s step= 5 trunk_z= 124.8mm grav_b=(-0.03,+0.08,-1.00) ball=(-0.167,+0.337,+0.041) r=0.37m +[headless_play] t= 0.20s step= 10 trunk_z= 118.5mm grav_b=(-0.11,+0.03,-0.99) ball=(-0.245,+0.228,+0.063) r=0.39m +[headless_play] t= 0.30s step= 15 trunk_z= 107.9mm grav_b=(-0.06,+0.02,-1.00) ball=(-0.315,+0.125,+0.033) r=0.43m +[headless_play] t= 0.40s step= 20 trunk_z= 113.5mm grav_b=(-0.03,+0.07,-1.00) ball=(-0.374,+0.031,+0.035) r=0.44m +[headless_play] t= 0.50s step= 25 trunk_z= 113.3mm grav_b=(-0.03,+0.03,-1.00) ball=(-0.432,-0.064,+0.035) r=0.44m +[headless_play] t= 0.60s step= 30 trunk_z= 113.3mm grav_b=(-0.02,+0.03,-1.00) ball=(-0.491,-0.158,+0.035) r=0.44m +[headless_play] t= 0.70s step= 35 trunk_z= 113.3mm grav_b=(-0.02,+0.03,-1.00) ball=(-0.549,-0.252,+0.035) r=0.44m +[headless_play] t= 0.80s step= 40 trunk_z= 113.3mm grav_b=(-0.01,+0.02,-1.00) ball=(-0.608,-0.347,+0.035) r=0.44m +[headless_play] t= 0.90s step= 45 trunk_z= 113.3mm grav_b=(-0.01,+0.03,-1.00) ball=(-0.667,-0.441,+0.035) r=0.44m +[headless_play] t= 1.00s step= 50 trunk_z= 113.4mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.725,-0.535,+0.035) r=0.44m +[headless_play] t= 1.10s step= 55 trunk_z= 113.4mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.784,-0.630,+0.035) r=0.44m +[headless_play] t= 1.20s step= 60 trunk_z= 113.5mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.842,-0.724,+0.035) r=0.44m +[headless_play] t= 1.30s step= 65 trunk_z= 113.6mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.901,-0.818,+0.035) r=0.44m +[headless_play] t= 1.40s step= 70 trunk_z= 113.6mm grav_b=(-0.02,+0.02,-1.00) ball=(-0.960,-0.913,+0.035) r=0.44m +[headless_play] t= 1.50s step= 75 trunk_z= 113.6mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.018,-1.007,+0.035) r=0.44m +[headless_play] t= 1.60s step= 80 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.077,-1.101,+0.035) r=0.44m +[headless_play] t= 1.70s step= 85 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.135,-1.196,+0.035) r=0.44m +[headless_play] t= 1.80s step= 90 trunk_z= 113.7mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.194,-1.290,+0.035) r=0.44m +[headless_play] t= 1.90s step= 95 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.253,-1.384,+0.035) r=0.44m +[headless_play] t= 2.00s step= 100 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.311,-1.479,+0.035) r=0.44m +[headless_play] t= 2.10s step= 105 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.370,-1.573,+0.035) r=0.44m +[headless_play] t= 2.20s step= 110 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.428,-1.667,+0.035) r=0.44m +[headless_play] t= 2.30s step= 115 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.487,-1.762,+0.035) r=0.44m +[headless_play] t= 2.40s step= 120 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.546,-1.856,+0.035) r=0.44m +[headless_play] t= 2.50s step= 125 trunk_z= 113.8mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.604,-1.950,+0.035) r=0.44m +[headless_play] t= 2.60s step= 130 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.663,-2.045,+0.035) r=0.44m +[headless_play] t= 2.70s step= 135 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.721,-2.139,+0.035) r=0.44m +[headless_play] t= 2.80s step= 140 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.780,-2.233,+0.035) r=0.44m +[headless_play] t= 2.90s step= 145 trunk_z= 113.9mm grav_b=(-0.03,+0.02,-1.00) ball=(-1.839,-2.328,+0.035) r=0.44m +[headless_play] t= 3.00s step= 150 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.897,-2.422,+0.035) r=0.44m +[headless_play] t= 3.10s step= 155 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-1.956,-2.516,+0.035) r=0.44m +[headless_play] t= 3.20s step= 160 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.014,-2.611,+0.035) r=0.44m +[headless_play] t= 3.30s step= 165 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.073,-2.705,+0.035) r=0.44m +[headless_play] t= 3.40s step= 170 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.132,-2.799,+0.035) r=0.44m +[headless_play] t= 3.50s step= 175 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.190,-2.894,+0.035) r=0.44m +[headless_play] t= 3.60s step= 180 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.249,-2.988,+0.035) r=0.44m +[headless_play] t= 3.70s step= 185 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.307,-3.082,+0.035) r=0.44m +[headless_play] t= 3.80s step= 190 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.366,-3.177,+0.035) r=0.44m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(-0.03,+0.02,-1.00) ball=(-2.425,-3.271,+0.035) r=0.44m +[headless_play] t= 4.00s step= 200 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.483,-3.365,+0.035) r=0.44m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.542,-3.460,+0.035) r=0.44m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.600,-3.554,+0.035) r=0.44m +[headless_play] t= 4.30s step= 215 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.659,-3.648,+0.035) r=0.44m +[headless_play] t= 4.40s step= 220 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.717,-3.743,+0.035) r=0.44m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.776,-3.837,+0.035) r=0.44m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.835,-3.931,+0.035) r=0.44m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.893,-4.026,+0.035) r=0.44m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-2.952,-4.120,+0.035) r=0.44m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.010,-4.215,+0.035) r=0.44m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.069,-4.309,+0.035) r=0.44m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.128,-4.403,+0.035) r=0.44m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.186,-4.498,+0.035) r=0.44m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.245,-4.592,+0.035) r=0.44m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.303,-4.686,+0.035) r=0.44m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.362,-4.781,+0.035) r=0.44m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.421,-4.875,+0.035) r=0.44m +[headless_play] t= 5.70s step= 285 trunk_z= 114.1mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.479,-4.969,+0.035) r=0.44m +[headless_play] t= 5.80s step= 290 trunk_z= 114.1mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.538,-5.064,+0.035) r=0.44m +[headless_play] t= 5.90s step= 295 trunk_z= 114.1mm grav_b=(-0.02,+0.02,-1.00) ball=(-3.596,-5.158,+0.035) r=0.44m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 119.8mm grav_b=(-0.03,+0.08,-1.00) ball=(+0.043,+0.435,+0.035) r=0.41m +[headless_play] t= 6.10s step= 305 trunk_z= 126.9mm grav_b=(-0.05,+0.11,-0.99) ball=(+0.055,+0.453,+0.048) r=0.42m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t7.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t7.log new file mode 100644 index 0000000000000000000000000000000000000000..3dfd95120891d01bf240a5f66241f449fb97747d --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t7.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.5mm grav_b=(+0.02,+0.04,-1.00) root_w=(-0.248,+0.170,+0.113) ball=(-0.172,+0.085,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 114.2mm grav_b=(+0.02,+0.03,-1.00) ball=(-0.172,+0.085,+0.034) r=0.30m +[headless_play] t= 0.10s step= 5 trunk_z= 120.9mm grav_b=(+0.03,+0.02,-1.00) ball=(-0.163,+0.083,+0.038) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 111.8mm grav_b=(-0.01,-0.03,-1.00) ball=(-0.019,+0.057,+0.051) r=0.27m +[headless_play] t= 0.30s step= 15 trunk_z= 109.4mm grav_b=(-0.05,-0.01,-1.00) ball=(+0.105,+0.037,+0.034) r=0.26m +[headless_play] t= 0.40s step= 20 trunk_z= 114.0mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.218,+0.022,+0.035) r=0.25m +[headless_play] t= 0.50s step= 25 trunk_z= 113.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.332,+0.006,+0.035) r=0.25m +[headless_play] t= 0.60s step= 30 trunk_z= 113.7mm grav_b=(+0.03,-0.00,-1.00) ball=(+0.445,-0.010,+0.035) r=0.25m +[headless_play] t= 0.70s step= 35 trunk_z= 113.6mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.558,-0.025,+0.035) r=0.26m +[headless_play] t= 0.80s step= 40 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.671,-0.041,+0.035) r=0.26m +[headless_play] t= 0.90s step= 45 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.785,-0.056,+0.035) r=0.26m +[headless_play] t= 1.00s step= 50 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+0.898,-0.072,+0.035) r=0.26m +[headless_play] t= 1.10s step= 55 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.011,-0.088,+0.035) r=0.26m +[headless_play] t= 1.20s step= 60 trunk_z= 113.7mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.124,-0.103,+0.035) r=0.26m +[headless_play] t= 1.30s step= 65 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.237,-0.119,+0.035) r=0.26m +[headless_play] t= 1.40s step= 70 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.351,-0.134,+0.035) r=0.26m +[headless_play] t= 1.50s step= 75 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.464,-0.150,+0.035) r=0.26m +[headless_play] t= 1.60s step= 80 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.577,-0.166,+0.035) r=0.26m +[headless_play] t= 1.70s step= 85 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.690,-0.181,+0.035) r=0.26m +[headless_play] t= 1.80s step= 90 trunk_z= 113.8mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.804,-0.197,+0.035) r=0.26m +[headless_play] t= 1.90s step= 95 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+1.917,-0.213,+0.035) r=0.26m +[headless_play] t= 2.00s step= 100 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.030,-0.228,+0.035) r=0.26m +[headless_play] t= 2.10s step= 105 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.143,-0.244,+0.035) r=0.26m +[headless_play] t= 2.20s step= 110 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.256,-0.259,+0.035) r=0.26m +[headless_play] t= 2.30s step= 115 trunk_z= 113.9mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.370,-0.275,+0.035) r=0.26m +[headless_play] t= 2.40s step= 120 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.483,-0.291,+0.035) r=0.26m +[headless_play] t= 2.50s step= 125 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.596,-0.306,+0.035) r=0.26m +[headless_play] t= 2.60s step= 130 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.709,-0.322,+0.035) r=0.26m +[headless_play] t= 2.70s step= 135 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.823,-0.337,+0.035) r=0.26m +[headless_play] t= 2.80s step= 140 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+2.936,-0.353,+0.035) r=0.26m +[headless_play] t= 2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.049,-0.369,+0.035) r=0.26m +[headless_play] t= 3.00s step= 150 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.162,-0.384,+0.035) r=0.26m +[headless_play] t= 3.10s step= 155 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.275,-0.400,+0.035) r=0.26m +[headless_play] t= 3.20s step= 160 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.389,-0.415,+0.035) r=0.26m +[headless_play] t= 3.30s step= 165 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.502,-0.431,+0.035) r=0.26m +[headless_play] t= 3.40s step= 170 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.615,-0.447,+0.035) r=0.26m +[headless_play] t= 3.50s step= 175 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.728,-0.462,+0.035) r=0.26m +[headless_play] t= 3.60s step= 180 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.842,-0.478,+0.035) r=0.26m +[headless_play] t= 3.70s step= 185 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+3.955,-0.494,+0.035) r=0.26m +[headless_play] t= 3.80s step= 190 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.068,-0.509,+0.035) r=0.26m +[headless_play] t= 3.90s step= 195 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.181,-0.525,+0.035) r=0.26m +[headless_play] t= 4.00s step= 200 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.294,-0.540,+0.035) r=0.26m +[headless_play] t= 4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.408,-0.556,+0.035) r=0.26m +[headless_play] t= 4.20s step= 210 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.521,-0.572,+0.035) r=0.26m +[headless_play] t= 4.30s step= 215 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.634,-0.587,+0.035) r=0.26m +[headless_play] t= 4.40s step= 220 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.747,-0.603,+0.035) r=0.26m +[headless_play] t= 4.50s step= 225 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.861,-0.618,+0.035) r=0.26m +[headless_play] t= 4.60s step= 230 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+4.974,-0.634,+0.035) r=0.26m +[headless_play] t= 4.70s step= 235 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.087,-0.650,+0.035) r=0.26m +[headless_play] t= 4.80s step= 240 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.200,-0.665,+0.035) r=0.26m +[headless_play] t= 4.90s step= 245 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.313,-0.681,+0.035) r=0.26m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.427,-0.697,+0.035) r=0.26m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.540,-0.712,+0.035) r=0.26m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.653,-0.728,+0.035) r=0.26m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.766,-0.743,+0.035) r=0.26m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.879,-0.759,+0.035) r=0.26m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+5.993,-0.775,+0.035) r=0.26m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+6.106,-0.790,+0.035) r=0.26m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+6.219,-0.806,+0.035) r=0.26m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+6.332,-0.821,+0.035) r=0.26m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(+0.02,-0.00,-1.00) ball=(+6.446,-0.837,+0.035) r=0.26m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 115.4mm grav_b=(+0.04,+0.04,-1.00) ball=(+0.047,-0.136,+0.035) r=0.22m +[headless_play] t= 6.10s step= 305 trunk_z= 123.4mm grav_b=(+0.03,+0.06,-1.00) ball=(+0.034,-0.142,+0.042) r=0.21m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t8.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t8.log new file mode 100644 index 0000000000000000000000000000000000000000..558637ff791ccc40927eb97772b06c398e5f65c5 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t8.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 113.9mm grav_b=(+0.06,-0.00,-1.00) root_w=(+0.010,-0.285,+0.114) ball=(-0.069,-0.320,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 114.4mm grav_b=(+0.06,-0.00,-1.00) ball=(-0.069,-0.320,+0.035) r=0.28m +[headless_play] t= 0.10s step= 5 trunk_z= 121.4mm grav_b=(+0.07,+0.01,-1.00) ball=(-0.075,-0.332,+0.042) r=0.29m +[headless_play] t= 0.20s step= 10 trunk_z= 115.6mm grav_b=(+0.04,+0.01,-1.00) ball=(-0.140,-0.463,+0.090) r=0.29m +[headless_play] t= 0.30s step= 15 trunk_z= 108.3mm grav_b=(+0.04,+0.02,-1.00) ball=(-0.205,-0.596,+0.043) r=0.28m +[headless_play] t= 0.40s step= 20 trunk_z= 113.4mm grav_b=(+0.04,+0.05,-1.00) ball=(-0.248,-0.700,+0.034) r=0.28m +[headless_play] t= 0.50s step= 25 trunk_z= 112.2mm grav_b=(+0.04,+0.04,-1.00) ball=(-0.287,-0.800,+0.035) r=0.27m +[headless_play] t= 0.60s step= 30 trunk_z= 112.2mm grav_b=(+0.04,+0.03,-1.00) ball=(-0.327,-0.900,+0.035) r=0.27m +[headless_play] t= 0.70s step= 35 trunk_z= 112.3mm grav_b=(+0.03,+0.03,-1.00) ball=(-0.366,-1.001,+0.035) r=0.27m +[headless_play] t= 0.80s step= 40 trunk_z= 112.4mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.406,-1.101,+0.035) r=0.27m +[headless_play] t= 0.90s step= 45 trunk_z= 112.5mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.445,-1.201,+0.035) r=0.27m +[headless_play] t= 1.00s step= 50 trunk_z= 112.6mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.485,-1.302,+0.035) r=0.27m +[headless_play] t= 1.10s step= 55 trunk_z= 112.7mm grav_b=(+0.02,+0.02,-1.00) ball=(-0.524,-1.402,+0.035) r=0.27m +[headless_play] t= 1.20s step= 60 trunk_z= 112.7mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.563,-1.502,+0.035) r=0.27m +[headless_play] t= 1.30s step= 65 trunk_z= 112.8mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.603,-1.603,+0.035) r=0.27m +[headless_play] t= 1.40s step= 70 trunk_z= 112.8mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.642,-1.703,+0.035) r=0.27m +[headless_play] t= 1.50s step= 75 trunk_z= 112.9mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.682,-1.804,+0.035) r=0.27m +[headless_play] t= 1.60s step= 80 trunk_z= 113.0mm grav_b=(+0.02,+0.01,-1.00) ball=(-0.721,-1.904,+0.035) r=0.27m +[headless_play] t= 1.70s step= 85 trunk_z= 113.0mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.761,-2.004,+0.035) r=0.27m +[headless_play] t= 1.80s step= 90 trunk_z= 113.1mm grav_b=(+0.01,+0.01,-1.00) ball=(-0.800,-2.105,+0.035) r=0.27m +[headless_play] t= 1.90s step= 95 trunk_z= 113.1mm grav_b=(+0.01,+0.00,-1.00) ball=(-0.839,-2.205,+0.035) r=0.27m +[headless_play] t= 2.00s step= 100 trunk_z= 113.1mm grav_b=(+0.01,+0.00,-1.00) ball=(-0.879,-2.305,+0.035) r=0.27m +[headless_play] t= 2.10s step= 105 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(-0.918,-2.406,+0.035) r=0.27m +[headless_play] t= 2.20s step= 110 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(-0.958,-2.506,+0.035) r=0.27m +[headless_play] t= 2.30s step= 115 trunk_z= 113.2mm grav_b=(+0.01,+0.00,-1.00) ball=(-0.997,-2.606,+0.035) r=0.27m +[headless_play] t= 2.40s step= 120 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.037,-2.707,+0.035) r=0.27m +[headless_play] t= 2.50s step= 125 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.076,-2.807,+0.035) r=0.27m +[headless_play] t= 2.60s step= 130 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.115,-2.907,+0.035) r=0.27m +[headless_play] t= 2.70s step= 135 trunk_z= 113.3mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.155,-3.008,+0.035) r=0.27m +[headless_play] t= 2.80s step= 140 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.194,-3.108,+0.035) r=0.27m +[headless_play] t= 2.90s step= 145 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.234,-3.208,+0.035) r=0.27m +[headless_play] t= 3.00s step= 150 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.273,-3.309,+0.035) r=0.27m +[headless_play] t= 3.10s step= 155 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.313,-3.409,+0.035) r=0.27m +[headless_play] t= 3.20s step= 160 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.352,-3.509,+0.035) r=0.27m +[headless_play] t= 3.30s step= 165 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.391,-3.610,+0.035) r=0.27m +[headless_play] t= 3.40s step= 170 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.431,-3.710,+0.035) r=0.27m +[headless_play] t= 3.50s step= 175 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.470,-3.811,+0.035) r=0.27m +[headless_play] t= 3.60s step= 180 trunk_z= 113.4mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.510,-3.911,+0.035) r=0.27m +[headless_play] t= 3.70s step= 185 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.549,-4.011,+0.035) r=0.27m +[headless_play] t= 3.80s step= 190 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.589,-4.112,+0.035) r=0.27m +[headless_play] t= 3.90s step= 195 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.628,-4.212,+0.035) r=0.27m +[headless_play] t= 4.00s step= 200 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.667,-4.312,+0.035) r=0.27m +[headless_play] t= 4.10s step= 205 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.707,-4.413,+0.035) r=0.27m +[headless_play] t= 4.20s step= 210 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.746,-4.513,+0.035) r=0.27m +[headless_play] t= 4.30s step= 215 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.786,-4.613,+0.035) r=0.27m +[headless_play] t= 4.40s step= 220 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.825,-4.714,+0.035) r=0.27m +[headless_play] t= 4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.865,-4.814,+0.035) r=0.27m +[headless_play] t= 4.60s step= 230 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.904,-4.914,+0.035) r=0.27m +[headless_play] t= 4.70s step= 235 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.943,-5.015,+0.035) r=0.27m +[headless_play] t= 4.80s step= 240 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-1.983,-5.115,+0.035) r=0.27m +[headless_play] t= 4.90s step= 245 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-2.022,-5.215,+0.035) r=0.27m +[headless_play] t= 5.00s step= 250 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-2.062,-5.316,+0.035) r=0.27m +[headless_play] t= 5.10s step= 255 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-2.101,-5.416,+0.035) r=0.27m +[headless_play] t= 5.20s step= 260 trunk_z= 113.5mm grav_b=(+0.01,+0.00,-1.00) ball=(-2.141,-5.517,+0.035) r=0.27m +[headless_play] t= 5.30s step= 265 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.180,-5.617,+0.035) r=0.27m +[headless_play] t= 5.40s step= 270 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.219,-5.717,+0.035) r=0.27m +[headless_play] t= 5.50s step= 275 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.259,-5.818,+0.035) r=0.27m +[headless_play] t= 5.60s step= 280 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.298,-5.918,+0.035) r=0.27m +[headless_play] t= 5.70s step= 285 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.338,-6.018,+0.035) r=0.27m +[headless_play] t= 5.80s step= 290 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.377,-6.119,+0.035) r=0.27m +[headless_play] t= 5.90s step= 295 trunk_z= 113.5mm grav_b=(+0.01,+0.01,-1.00) ball=(-2.417,-6.219,+0.035) r=0.27m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 116.1mm grav_b=(-0.02,-0.00,-1.00) ball=(+0.030,+0.140,+0.035) r=0.22m +[headless_play] t= 6.10s step= 305 trunk_z= 120.2mm grav_b=(+0.00,-0.01,-1.00) ball=(+0.055,+0.126,+0.054) r=0.21m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t9.log b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t9.log new file mode 100644 index 0000000000000000000000000000000000000000..d36632b532bfaaf2969531156702f298fdafb089 --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/proof-bk-c-2026-10-24/bksc-t9.log @@ -0,0 +1,72 @@ +[INFO]: Loading checkpoint: model_13000.pt +[headless_play] fixed world camera, lookat=(0.8, 0.0, 0.12) +[headless_play] episode_length_s=6.0 +[headless_play] spawn forced: standing +[headless_play] no-push: push_robot dropped +[headless_play] no-push: curriculum term push_magnitude dropped (bound to push_robot) +[headless_play] camera distance=1.75 elevation=-18.0 azimuth=65.0 body=trunk_base +[headless_play] after reset: trunk_z= 115.9mm grav_b=(+0.00,-0.03,-1.00) root_w=(-0.285,+0.428,+0.116) ball=(-0.197,+0.433,+0.035) +[headless_play] t= 0.00s step= 0 trunk_z= 115.7mm grav_b=(+0.00,-0.03,-1.00) ball=(-0.197,+0.433,+0.035) r=0.51m +[headless_play] t= 0.10s step= 5 trunk_z= 122.8mm grav_b=(+0.02,+0.03,-1.00) ball=(-0.184,+0.446,+0.046) r=0.52m +[headless_play] t= 0.20s step= 10 trunk_z= 117.1mm grav_b=(+0.02,+0.04,-1.00) ball=(-0.089,+0.553,+0.096) r=0.50m +[headless_play] t= 0.30s step= 15 trunk_z= 107.9mm grav_b=(+0.01,+0.03,-1.00) ball=(+0.006,+0.660,+0.050) r=0.47m +[headless_play] t= 0.40s step= 20 trunk_z= 113.7mm grav_b=(+0.03,+0.02,-1.00) ball=(+0.077,+0.748,+0.034) r=0.46m +[headless_play] t= 0.50s step= 25 trunk_z= 113.1mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.143,+0.833,+0.035) r=0.46m +[headless_play] t= 0.60s step= 30 trunk_z= 113.1mm grav_b=(+0.04,+0.01,-1.00) ball=(+0.209,+0.918,+0.035) r=0.46m +[headless_play] t= 0.70s step= 35 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.276,+1.002,+0.035) r=0.46m +[headless_play] t= 0.80s step= 40 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.342,+1.087,+0.035) r=0.46m +[headless_play] t= 0.90s step= 45 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.408,+1.172,+0.035) r=0.46m +[headless_play] t= 1.00s step= 50 trunk_z= 113.1mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.474,+1.256,+0.035) r=0.46m +[headless_play] t= 1.10s step= 55 trunk_z= 113.2mm grav_b=(+0.03,+0.01,-1.00) ball=(+0.540,+1.341,+0.035) r=0.46m +[headless_play] t= 1.20s step= 60 trunk_z= 113.2mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.606,+1.426,+0.035) r=0.46m +[headless_play] t= 1.30s step= 65 trunk_z= 113.3mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.672,+1.510,+0.035) r=0.46m +[headless_play] t= 1.40s step= 70 trunk_z= 113.3mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.738,+1.595,+0.035) r=0.46m +[headless_play] t= 1.50s step= 75 trunk_z= 113.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.804,+1.680,+0.035) r=0.46m +[headless_play] t= 1.60s step= 80 trunk_z= 113.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.870,+1.764,+0.035) r=0.46m +[headless_play] t= 1.70s step= 85 trunk_z= 113.4mm grav_b=(+0.03,+0.00,-1.00) ball=(+0.936,+1.849,+0.035) r=0.46m +[headless_play] t= 1.80s step= 90 trunk_z= 113.5mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.003,+1.934,+0.035) r=0.46m +[headless_play] t= 1.90s step= 95 trunk_z= 113.5mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.069,+2.019,+0.035) r=0.46m +[headless_play] t= 2.00s step= 100 trunk_z= 113.5mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.135,+2.103,+0.035) r=0.46m +[headless_play] t= 2.10s step= 105 trunk_z= 113.5mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.201,+2.188,+0.035) r=0.46m +[headless_play] t= 2.20s step= 110 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.267,+2.273,+0.035) r=0.46m +[headless_play] t= 2.30s step= 115 trunk_z= 113.6mm grav_b=(+0.03,+0.00,-1.00) ball=(+1.333,+2.357,+0.035) r=0.46m +[headless_play] t= 2.40s step= 120 trunk_z= 113.6mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.399,+2.442,+0.035) r=0.46m +[headless_play] t= 2.50s step= 125 trunk_z= 113.6mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.465,+2.527,+0.035) r=0.46m +[headless_play] t= 2.60s step= 130 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.531,+2.611,+0.035) r=0.46m +[headless_play] t= 2.70s step= 135 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.597,+2.696,+0.035) r=0.46m +[headless_play] t= 2.80s step= 140 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.664,+2.781,+0.035) r=0.46m +[headless_play] t= 2.90s step= 145 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.730,+2.865,+0.035) r=0.46m +[headless_play] t= 3.00s step= 150 trunk_z= 113.7mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.796,+2.950,+0.035) r=0.46m +[headless_play] t= 3.10s step= 155 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.862,+3.035,+0.035) r=0.46m +[headless_play] t= 3.20s step= 160 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.928,+3.119,+0.035) r=0.46m +[headless_play] t= 3.30s step= 165 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+1.994,+3.204,+0.035) r=0.46m +[headless_play] t= 3.40s step= 170 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.060,+3.289,+0.035) r=0.46m +[headless_play] t= 3.50s step= 175 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.126,+3.373,+0.035) r=0.46m +[headless_play] t= 3.60s step= 180 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.192,+3.458,+0.035) r=0.46m +[headless_play] t= 3.70s step= 185 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.258,+3.543,+0.035) r=0.46m +[headless_play] t= 3.80s step= 190 trunk_z= 113.8mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.324,+3.627,+0.035) r=0.46m +[headless_play] t= 3.90s step= 195 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.391,+3.712,+0.035) r=0.46m +[headless_play] t= 4.00s step= 200 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.457,+3.797,+0.035) r=0.46m +[headless_play] t= 4.10s step= 205 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.523,+3.881,+0.035) r=0.46m +[headless_play] t= 4.20s step= 210 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.589,+3.966,+0.035) r=0.46m +[headless_play] t= 4.30s step= 215 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.655,+4.051,+0.035) r=0.46m +[headless_play] t= 4.40s step= 220 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.721,+4.135,+0.035) r=0.46m +[headless_play] t= 4.50s step= 225 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.787,+4.220,+0.035) r=0.46m +[headless_play] t= 4.60s step= 230 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.853,+4.305,+0.035) r=0.46m +[headless_play] t= 4.70s step= 235 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.919,+4.389,+0.035) r=0.46m +[headless_play] t= 4.80s step= 240 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+2.985,+4.474,+0.035) r=0.46m +[headless_play] t= 4.90s step= 245 trunk_z= 113.9mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.052,+4.559,+0.035) r=0.46m +[headless_play] t= 5.00s step= 250 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.118,+4.643,+0.035) r=0.46m +[headless_play] t= 5.10s step= 255 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.184,+4.728,+0.035) r=0.46m +[headless_play] t= 5.20s step= 260 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.250,+4.813,+0.035) r=0.46m +[headless_play] t= 5.30s step= 265 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.316,+4.898,+0.035) r=0.46m +[headless_play] t= 5.40s step= 270 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.382,+4.982,+0.035) r=0.46m +[headless_play] t= 5.50s step= 275 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.448,+5.067,+0.035) r=0.46m +[headless_play] t= 5.60s step= 280 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.514,+5.152,+0.035) r=0.46m +[headless_play] t= 5.70s step= 285 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.580,+5.236,+0.035) r=0.46m +[headless_play] t= 5.80s step= 290 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.646,+5.321,+0.035) r=0.46m +[headless_play] t= 5.90s step= 295 trunk_z= 114.0mm grav_b=(+0.02,+0.00,-1.00) ball=(+3.712,+5.406,+0.035) r=0.46m +[headless_play] RESET at t= 5.98s step= 299 (env termination, not a recovery) +[headless_play] t= 6.00s step= 300 trunk_z= 117.8mm grav_b=(-0.09,-0.08,-0.99) ball=(+0.171,+0.387,+0.035) r=0.35m +[headless_play] t= 6.10s step= 305 trunk_z= 122.7mm grav_b=(-0.05,-0.00,-1.00) ball=(+0.150,+0.412,+0.055) r=0.34m +[headless_play] done diff --git a/level-07c-kick-right-giant-ball/proof-takes/score.txt b/level-07c-kick-right-giant-ball/proof-takes/score.txt new file mode 100644 index 0000000000000000000000000000000000000000..f467181228b58ec8dba634d3e0aac935f5825c7c --- /dev/null +++ b/level-07c-kick-right-giant-ball/proof-takes/score.txt @@ -0,0 +1,10 @@ +a: new 9/15 vs seed 0/15 one-sided p=0.0003 two-sided p=0.0007 no-sample takes new 0 seed 0 + new : new held 15/15 kicked 15/15 goal 1/15 power 9/15 median aim -30.5 deg, travel@1s 0.96 m @2s 1.29 m + seed : seed held 15/15 kicked 12/15 goal 15/15 power 0/15 median aim +0.7 deg, travel@1s 0.36 m @2s 0.77 m +b: new 8/10 vs seed 0/10 one-sided p=0.0004 two-sided p=0.0007 no-sample takes new 0 seed 0 + new : new held 10/10 kicked 10/10 goal 1/10 power 8/10 median aim -30.9 deg, travel@1s 0.97 m @2s 1.56 m + seed : seed held 10/10 kicked 8/10 goal 10/10 power 0/10 median aim +2.2 deg, travel@1s 0.34 m @2s 0.72 m +c: new 7/10 vs seed 10/10 one-sided p=1.0000 two-sided p=0.2105 no-sample takes new 0 seed 0 + new : new held 7/10 kicked 10/10 median aim +75.4 deg, travel@1s 1.07 m @2s 2.32 m + seed : seed held 10/10 kicked 10/10 median aim -5.5 deg, travel@1s 1.05 m @2s 2.12 m +VERDICT: GAIN diff --git a/level-07c-kick-right-giant-ball/queue-item.sh b/level-07c-kick-right-giant-ball/queue-item.sh new file mode 100644 index 0000000000000000000000000000000000000000..9fa05eb02c13b2f1380a9f264d542069871b7b60 --- /dev/null +++ b/level-07c-kick-right-giant-ball/queue-item.sh @@ -0,0 +1,26 @@ +#!/bin/bash +# 09z10-duck-bigkick.sh: duck skill tree, "something visual" item (operator, GPU thread, Sat 2026-10-24 ~21:35 CEST: "let's queue a duck please. let's try to do something that is +# more visual, that would hook people"). level 7 kick, again, with a GIANT ball: 300 mm across (r 0.15 m), 0.275 kg, bigger than the 250 mm duck, in a goal 1.4 m ahead for the clip. +# task Mjlab-BallKick-Flat-Backlash-Big-MicroDuck (module witcheer_ballkick_big_env_cfg.py, installed 2026-10-24 by install-bigkick-fork-2026-10-24.sh, backup ~/tasks-init.py.bak-bigkick-2026-10-24; +# train + play cfg reprs of BallKick flat/backlash, Velocity backlash, Stairs, Roulade md5-identical before/after, 10 of 10). ONE change against the backlash kick task: the ball (radius 0.15, +# mass 0.275 = 15 g x (r/35 mm)^2, blue) and its reset offset x 0.205 (nominal rear surface unchanged at 0.055). target kick speed 1.0 m/s, rewards, curricula, DR, 5 s episodes are the backlash +# kick's. no clone patches involved (ball task, flat plane). the goal exists only in the PLAY cfg behind MICRODUCK_BIGKICK_GOAL=1 (clip/verdict), never in training. +# WHY it trains something: a seed-only sweep (2026-10-24, no training) showed the 09l kickbl policy already MOVES balls up to r 0.18 m and puts the ball in a wide goal, but weaker the bigger the ball: +# median ball travel at 1 s / 2 s 0.80 / 1.25 m on the maker's 70 mm ball (32 takes) vs 0.35 / 0.74 m on this one (6 takes, max 0.86 at 2 s): the forward-velocity term pays ~5 of its 12. 3k iterations +# should close that, or show it cannot. the seed alone already makes a usable giant-ball clip; this item makes the kick strong. +# WARM START: logs/rsl_rl/duckbigkick/2026-10-24_00-00-00_seed-kickbl-it13000/model_13000.pt = duckkickbl 2026-09-28_14-10-20 model_13000 (md5 7265ed9e, both copies), true resume, +# 13000 -> 16000 (3k rule). obs/action dims identical (61/14), checkpoint loads with no size mismatch. +# probes 2026-10-24 (shared card: the sub10 llama-server held 10.3 GB at 97% util, so every pace below is CONTENDED and UNVERIFIED as a free-card pace): see the log.md entry for the final probes on the +# giant-ball cfg. FREE-CARD ESTIMATE: 1.21 s/it (09l kickbl, same task cost) -> 3000 it ~61 min + export, one block. UNVERIFIED until it runs. +# verdict: item 09z11-duck-proof-bigkick (right behind this one), batches proof-bk-{a,b,c}, scorer bk-score-2026-10-24.py, new vs the seed (kickbl model_13000). pre-registered: a = giant ball + goal, no +# shoves, 15 takes per policy, success = held AND ball >= 1.25 m from its start by t = 2 s (the seed's own median on the 70 mm ball; its median on the giant ball is 0.74 m), one-sided Fisher p < 0.05 = +# GAIN; c = stock small ball, no-loss two-sided; b (play shoves) reported only. then clip-bigkick-2026-10-24.sh cuts the X clips from batch a. +# body: ~/Pollen/duck-train-body.sh (shared with every duck item; e2e-proven once on 09z8's clone; NOT re-e2e'd for this task id: the card is held by the running sub10 bench leg and the body's own +# Donald stop/drain must not run beside it; the exact-argv probes cover the train + resume + export commands). +# operator ask 2026-10-24 ~21:35 CEST (GPU thread). sim only, nothing public. +SKILL=bigkick +# MANIFEST duplicated from the body so the drain grep fills idleq-active.json for the sentinel +MANIFEST=/home/witcheer/duckbigkick-status.json +TASK=Mjlab-BallKick-Flat-Backlash-Big-MicroDuck +TARGET_IT=${TARGET_IT:-16000} +. /home/witcheer/Pollen/duck-train-body.sh diff --git a/level-07c-kick-right-giant-ball/reward-curve.csv b/level-07c-kick-right-giant-ball/reward-curve.csv new file mode 100644 index 0000000000000000000000000000000000000000..80d52e60fc58788e862f44509a4552c62225f40d --- /dev/null +++ b/level-07c-kick-right-giant-ball/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 +13000,0.0,0.0,0.0,15.916666984558105,49372.0,22.190000534057617,3.1609249114990234 +13001,0.0,0.0,0.0,16.541667938232422,83329.0,45.13999938964844,7.961935043334961 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+# 09z11-duck-proof-bigkick.sh: the 09z10 verdict as a QUEUE ITEM right behind its training item (prefix 09z11 sorts after 09z10 and before every bench item). +# why an item and not only a watcher: the next queue item after the training export is a bench leg (69-hermes-kv-v3, vLLM-style legs that book most of the card), and +# batches launched after the export would OOM or starve it (09z7 lost its first batches that way). here the three batches run inside the drain's own slot, on a card +# nobody else holds, in the ~15-20 min between the 09z10 export and the next bench item. +# behaviour: no 09z10 export (bigkick-*-it16000.onnx) -> exit 3 (stays queued, resumable; DRYRUN stays green). export present -> three parallel batches +# proof-bk-{a,b,c}.sh (a: giant ball + goal, no shoves, 15 takes per policy, GAIN condition one-sided; b: giant ball + play shoves, 10 per policy, reported; +# c: stock small-ball task, 10 per policy, no-loss two-sided; new = duckbigkick model_16000, seed = 09l kickbl model_13000), then bk-score-2026-10-24.py -> +# ~/Pollen/proof-bk-score.txt. exit 0 only when all three END markers and a VERDICT line exist (item moves to done/). +# a batch dir left by an earlier cut run is moved aside (.partial-), never deleted. after scoring the item also runs clip-bigkick-2026-10-24.sh (best effort, CPU only, +# nice 19): ~/Pollen/clips/x-bigkick-/bigkick-x.mp4 + bigkick-x-beforeafter.mp4 from the batch-a takes (rerun by hand with the same script). +# test hooks (e2e only): PROOF_TAG, PROOF_N, BK_CKPT (see proof-bk-a.sh), PROOF_ONNX_GLOB. +set -uo pipefail +NL_TAG=duckbkproof +MANIFEST=/home/witcheer/duckbkproof-status.json +export MANIFEST +. /home/witcheer/night-lib.sh +P=/home/witcheer/Pollen +TAG=${PROOF_TAG:-2026-10-24} +ONNX=$(ls $P/policies-ours/${PROOF_ONNX_GLOB:-bigkick-*-it16000.onnx} 2>/dev/null | head -1) +SCORE=$P/proof-bk-score${PROOF_TAG:+-$PROOF_TAG}.txt +nl_say "PLAN phase (DRYRUN=${DRYRUN:-0}) 09z10 proof takes, tag $TAG" +nl_check_path $P/proof-bk-a.sh $P/proof-bk-b.sh $P/proof-bk-c.sh $P/proof-common.sh $P/bk-score-2026-10-24.py /usr/bin/python3 +[ -n "$ONNX" ] && nl_ok "09z10 export present: $ONNX" || nl_say " 09z10 export not present yet (training item still to run): the real run will exit 3" +if [ -s "$SCORE" ] && grep -q '^VERDICT: \(GAIN\|NO GAIN\)' "$SCORE"; then nl_say " scored already: $(grep '^VERDICT' $SCORE)"; ALREADY=1; else ALREADY=0; fi +if [ "${DRYRUN:-0}" = "1" ] || [ ! -f "$MANIFEST" ]; then nl_manifest_init takes score; fi +nl_gate +[ "$ALREADY" = 1 ] && { nl_say "nothing to run, item complete"; exit 0; } +[ -n "$ONNX" ] || { nl_say "no 09z10 export yet, exit 3 (resumable)"; exit 3; } +left=$(( $(nl_deadline_epoch) - $(date +%s) - 120 )) +[ "$left" -gt 2400 ] || { nl_say "under 40 min left in the block, not starting (resumable)"; exit 3; } +[ "$left" -gt 5400 ] && left=5400 +export PROOF_TAG=$TAG +for b in a b c; do + d=$P/clips/proof-bk-$b-$TAG + if [ -d "$d" ] && ! grep -q "PROOF_BK_${b^^}_END" $P/proof-bk-$b.out 2>/dev/null; then mv "$d" "$d.partial-$(date +%s)"; [ -f "$d.log" ] && mv "$d.log" "$d.log.partial-$(date +%s)"; nl_say " moved aside an unfinished batch dir $d"; fi +done +nl_say "=== launching proof-bk-a/b/c in parallel (cap $((left/60)) min) ===" +t0=$(date +%s) +for b in a b c; do + if grep -q "PROOF_BK_${b^^}_END" $P/proof-bk-$b.out 2>/dev/null && [ -d $P/clips/proof-bk-$b-$TAG ]; then nl_say " batch $b already ended, kept"; continue; fi + ( timeout --kill-after=60 "$left" bash $P/proof-bk-$b.sh > $P/proof-bk-$b.out 2>&1 ) & +done +wait +nl_say "batches finished in $(( ($(date +%s)-t0)/60 )) min: $(for b in a b c; do printf '%s:%s ' $b $(ls $P/clips/proof-bk-$b-$TAG/*.mp4 2>/dev/null | wc -l); done) mp4, NO_CLIP $(cat $P/proof-bk-?.out | grep -c NO_CLIP)" +/usr/bin/python3 $P/bk-score-2026-10-24.py > "$SCORE" 2>&1; cat "$SCORE" +# best-effort clip cut (CPU only, nice 19): hero + before/after from batch a; a failure never changes the item's result (rerun by hand: bash ~/Pollen/clip-bigkick-2026-10-24.sh) +if [ -d $P/clips/proof-bk-a-$TAG ]; then + if nice -n 19 bash $P/clip-bigkick-2026-10-24.sh $TAG > $P/clip-bigkick-cut-$TAG.log 2>&1; then nl_say "clips cut: $(grep -E '^(NEW|SEED|CUT_DONE)' $P/clip-bigkick-cut-$TAG.log | tr '\n' ' ')"; else nl_say "clip cut FAILED (see $P/clip-bigkick-cut-$TAG.log), rerun by hand"; fi +fi +if grep -q PROOF_BK_A_END $P/proof-bk-a.out && grep -q PROOF_BK_B_END $P/proof-bk-b.out && grep -q PROOF_BK_C_END $P/proof-bk-c.out && grep -q '^VERDICT: \(GAIN\|NO GAIN\)' "$SCORE"; then + nl_mark takes done "3 batches ended"; nl_mark score done "$(grep '^VERDICT' $SCORE)"; nl_say "DONE rc=0 $(grep '^VERDICT' $SCORE)"; exit 0 +fi +nl_mark takes failed "batches incomplete or cut (resumable, unfinished dirs are moved aside next run)"; nl_say "DONE incomplete, exit 3"; exit 3 diff --git a/tools/09z9-duck-proof-velstairs.sh b/tools/09z9-duck-proof-velstairs.sh new file mode 100644 index 0000000000000000000000000000000000000000..5ce9bfeb55392f89e72e489eafc679e7a1ec8a02 --- /dev/null +++ b/tools/09z9-duck-proof-velstairs.sh @@ -0,0 +1,49 @@ +#!/bin/bash +# 09z9-duck-proof-velstairs.sh: the 09z8 verdict as a QUEUE ITEM right behind its training item (prefix 09z9 sorts after 09z8 and before every bench item). +# why an item and not only a watcher: the weekend drain re-globs the queue the moment 09z8 exits and starts 67c (a 29 GB llama-server leg that holds the +# card for hours), so batches launched after the export would either OOM or starve the bench leg (09z7 lost its first batches that way, proof-z7-*.out.oom). +# here the batches run inside the drain's own slot, on a card nobody else holds, in the ~25 min between the 09z8 export and the next bench item. +# behaviour: no 09z8 export (velstairs-*-it19000.onnx) -> exit 3 (stays queued, resumable; DRYRUN stays green). export present -> three parallel batches +# proof-z8-{a,b,c}.sh (15 takes per policy per condition, z8 vs walk-mixslope; a = stairs GAIN condition one-sided, b flat + c MixSlope no-loss two-sided), +# then z8-score-2026-10-23.py -> ~/Pollen/proof-z8-score.txt. exit 0 only when all three END markers and a VERDICT line exist (item moves to done/). +# a batch dir left by an earlier cut run is moved aside (.partial-), never deleted. the watcher wduckz8 (liveness line, ~/Pollen/wduck-z8.alive) is the +# backstop when the drain is not running (it launches the same batches itself, only with VRAM room, after a 20 min grace). +# test hooks (e2e only): PROOF_TAG, PROOF_N, Z8_CKPT (see proof-z8-a.sh), PROOF_ONNX_GLOB. +set -uo pipefail +NL_TAG=duckz8proof +MANIFEST=/home/witcheer/duckz8proof-status.json +export MANIFEST +. /home/witcheer/night-lib.sh +P=/home/witcheer/Pollen +TAG=${PROOF_TAG:-2026-10-23} +ONNX=$(ls $P/policies-ours/${PROOF_ONNX_GLOB:-velstairs-*-it19000.onnx} 2>/dev/null | head -1) +SCORE=$P/proof-z8-score${PROOF_TAG:+-$PROOF_TAG}.txt +nl_say "PLAN phase (DRYRUN=${DRYRUN:-0}) 09z8 proof takes, tag $TAG" +nl_check_path $P/proof-z8-a.sh $P/proof-z8-b.sh $P/proof-z8-c.sh $P/proof-common.sh $P/z8-score-2026-10-23.py /usr/bin/python3 +[ -n "$ONNX" ] && nl_ok "09z8 export present: $ONNX" || nl_say " 09z8 export not present yet (training item still to run): the real run will exit 3" +if [ -s "$SCORE" ] && grep -q '^VERDICT: \(GAIN\|NO GAIN\)' "$SCORE"; then nl_say " scored already: $(grep '^VERDICT' $SCORE)"; ALREADY=1; else ALREADY=0; fi +if [ "${DRYRUN:-0}" = "1" ] || [ ! -f "$MANIFEST" ]; then nl_manifest_init takes score; fi +nl_gate +[ "$ALREADY" = 1 ] && { nl_say "nothing to run, item complete"; exit 0; } +[ -n "$ONNX" ] || { nl_say "no 09z8 export yet, exit 3 (resumable)"; exit 3; } +left=$(( $(nl_deadline_epoch) - $(date +%s) - 120 )) +[ "$left" -gt 2400 ] || { nl_say "under 40 min left in the block, not starting (resumable)"; exit 3; } +[ "$left" -gt 5400 ] && left=5400 +export PROOF_TAG=$TAG +for b in a b c; do + d=$P/clips/proof-z8-$b-$TAG + if [ -d "$d" ] && ! grep -q "PROOF_Z8_${b^^}_END" $P/proof-z8-$b.out 2>/dev/null; then mv "$d" "$d.partial-$(date +%s)"; [ -f "$d.log" ] && mv "$d.log" "$d.log.partial-$(date +%s)"; nl_say " moved aside an unfinished batch dir $d"; fi +done +nl_say "=== launching proof-z8-a/b/c in parallel (cap $((left/60)) min) ===" +t0=$(date +%s) +for b in a b c; do + if grep -q "PROOF_Z8_${b^^}_END" $P/proof-z8-$b.out 2>/dev/null && [ -d $P/clips/proof-z8-$b-$TAG ]; then nl_say " batch $b already ended, kept"; continue; fi + ( timeout --kill-after=60 "$left" bash $P/proof-z8-$b.sh > $P/proof-z8-$b.out 2>&1 ) & +done +wait +nl_say "batches finished in $(( ($(date +%s)-t0)/60 )) min: $(for b in a b c; do printf '%s:%s ' $b $(ls $P/clips/proof-z8-$b-$TAG/*.mp4 2>/dev/null | wc -l); done) mp4, NO_CLIP $(cat $P/proof-z8-?.out | grep -c NO_CLIP)" +/usr/bin/python3 $P/z8-score-2026-10-23.py > "$SCORE" 2>&1; cat "$SCORE" +if grep -q PROOF_Z8_A_END $P/proof-z8-a.out && grep -q PROOF_Z8_B_END $P/proof-z8-b.out && grep -q PROOF_Z8_C_END $P/proof-z8-c.out && grep -q '^VERDICT: \(GAIN\|NO GAIN\)' "$SCORE"; then + nl_mark takes done "3 batches ended"; nl_mark score done "$(grep '^VERDICT' $SCORE)"; nl_say "DONE rc=0 $(grep '^VERDICT' $SCORE)"; exit 0 +fi +nl_mark takes failed "batches incomplete or cut (resumable, unfinished dirs are moved aside next run)"; nl_say "DONE incomplete, exit 3"; exit 3 diff --git a/tools/bigkick-play-check-2026-10-24.sh b/tools/bigkick-play-check-2026-10-24.sh new file mode 100644 index 0000000000000000000000000000000000000000..e894b842a03f003ad484f5d6bde0dc1987db6824 --- /dev/null +++ b/tools/bigkick-play-check-2026-10-24.sh @@ -0,0 +1,56 @@ +#!/bin/bash +# bigkick-play-check-2026-10-24.sh: proves the pieces of the big-ball kick fork on a built 1-env PLAY env (goal mode), CPU-light, ~1 min: +# 1. ball radius 0.15 / mass 0.275 / colour reach the compiled model (geom_size, body_mass of the scene), reset_ball offset puts the ball resting on the floor +# 2. face_goal: after env.reset() the robot yaw is 0 (world +x), xy at the env origin, ball ahead on the +x axis at the right-foot line (y ~ -0.04) +# 3. the goal geoms sit at the world x range [1.4, 1.8], width 1.00 (y +-0.50), the ball is a dynamic body, the goal is not +# 4. ball_lateral reward term: ball velocity (0.60, 0.47) m/s with heading +x gives lateral 0.47 and ball_forward_velocity 0.60 (cap 1.0), the +# weight is -6.0 in the TRAIN cfg and the term is absent when MICRODUCK_BIGKICK_AIM_W=0 +# usage: bash bigkick-play-check-2026-10-24.sh (log ~/Pollen/bigkick-play-check-2026-10-24.log) +exec > >(tee -a /home/witcheer/Pollen/bigkick-play-check-2026-10-24.log) 2>&1 +export PATH=/home/witcheer/.local/bin:$PATH MUJOCO_GL=egl MICRODUCK_BIGKICK_GOAL=1 +cd /home/witcheer/Pollen/microduck_rl +uv run python - <<'PY' 2>&1 | grep -v '^\[mdp\]' | grep -v Warning +import math, torch, mujoco, mjlab_microduck.tasks +from mjlab.envs import ManagerBasedRlEnv +from mjlab.tasks.registry import load_env_cfg +T = "Mjlab-BallKick-Flat-Backlash-Big-MicroDuck" +tr = load_env_cfg(T, play=False) +print("TRAIN rewards:", {k: v.weight for k, v in tr.rewards.items() if k.startswith("ball")}, "entities", list(tr.scene.entities)) +cfg = load_env_cfg(T, play=True) +cfg.scene.num_envs = 1 +env = ManagerBasedRlEnv(cfg=cfg, device="cuda:0") +env.reset() +sc = env.scene; m = env.sim.mj_model +names = [mujoco.mj_id2name(m, mujoco.mjtObj.mjOBJ_GEOM, i) or "" for i in range(m.ngeom)] +bi = [i for i, n in enumerate(names) if "ball_geom" in n][0] +print("ball geom", names[bi], "radius", float(m.geom_size[bi][0]), "rgba", [round(float(v), 2) for v in m.geom_rgba[bi]]) +bb = int(m.geom_bodyid[bi]); print("ball body mass", float(m.body_mass[bb]), "dof of ball body", int(m.body_dofnum[bb]), "(6 = free)") +gi = [i for i, n in enumerate(names) if n.startswith("goal") or "post" in n or "net_" in n or "bar_" in n or "rail_" in n] +gb = sorted({int(m.geom_bodyid[i]) for i in gi}); print("goal geoms", len(gi), "goal bodies dofs", [int(m.body_dofnum[b]) for b in gb], "mocap", [int(m.body_mocapid[b]) for b in gb]) +d = env.sim.mj_data +mujoco.mj_forward(m, d) +xs = [float(d.geom_xpos[i][0]) for i in gi]; ys = [float(d.geom_xpos[i][1]) for i in gi] +print("goal world x range %.3f..%.3f y range %.3f..%.3f" % (min(xs), max(xs), min(ys), max(ys))) +robot = sc["robot"]; ball = sc["ball"] +rp = robot.data.root_link_pos_w[0]; q = robot.data.root_link_quat_w[0] +yaw = math.atan2(2*(q[0]*q[3]+q[1]*q[2]), 1-2*(q[2]**2+q[3]**2)) +print("after reset: robot xy (%.3f, %.3f) yaw %.2f deg; ball (%.3f, %.3f, %.3f)" % (rp[0], rp[1], math.degrees(float(yaw)), *[float(v) for v in ball.data.root_link_pos_w[0]])) +import mjlab_microduck.tasks.witcheer_ballkick_big_env_cfg as F +ball.write_root_link_velocity_to_sim(torch.tensor([[0.60, 0.47, 0, 0, 0, 0]], device="cuda:0"), torch.tensor([0], device="cuda:0")) +env.sim.forward() # root velocity reads lag the write until a forward() +print("lateral term", float(F.ball_lateral_speed(env)[0]), "(expect 0.47) forward term", float(F.microduck_mdp.ball_forward_velocity(env, max_speed=1.0)[0]), "(expect 0.60)") +print("CHECK_END") +PY +for w in 0 10; do MICRODUCK_BIGKICK_AIM_W=$w uv run python -c " +import mjlab_microduck.tasks +from mjlab.tasks.registry import load_env_cfg +c = load_env_cfg('Mjlab-BallKick-Flat-Backlash-Big-MicroDuck', play=False) +print('AIM_W=$w: ball_lateral present =', 'ball_lateral' in c.rewards, c.rewards['ball_lateral'].weight if 'ball_lateral' in c.rewards else '') +" 2>&1 | grep 'AIM_W'; done +env -u MICRODUCK_BIGKICK_GOAL uv run python -c " +import mjlab_microduck.tasks +from mjlab.tasks.registry import load_env_cfg +for play in (False, True): + c = load_env_cfg('Mjlab-BallKick-Flat-Backlash-Big-MicroDuck', play=play) + print('default env, play', play, 'entities', list(c.scene.entities), 'rewards', {k: v.weight for k, v in c.rewards.items() if k.startswith('ball')}, 'reset_ball', c.events['reset_ball'].params) +" 2>&1 | grep 'default env' diff --git a/tools/bk-score-2026-10-24.py b/tools/bk-score-2026-10-24.py new file mode 100644 index 0000000000000000000000000000000000000000..ff0ce9eb84ab7340eb818ef4383adf101dfbd8a3 --- /dev/null +++ b/tools/bk-score-2026-10-24.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python3 +# bk-score-2026-10-24.py: 09z10 (giant-ball kick) verdict scoring, z8 scorer shape. take logs from proof-bk-{a,b,c}.sh (headless_play, 0.1 s samples, 6 s episodes). +# held = no tilt fall (grav_b z > -0.5 at any sample before the end) and no RESET before t = 5.9 s (the 6 s time-out RESET at ~5.98 s is the end). +# a, b = GIANT ball (r 0.15 m, 0.275 kg) with the goal (mouth line x 1.4 m, y +-0.50, depth 0.40, height 0.50, face_goal yaw 0): success = held AND the ball +# travelled >= 1.25 m (planar, from its start) by t = 2.0 s. 1.25 m is the seed's own median at 2 s on the maker's 70 mm ball (32 takes), so "success" reads +# "kicks the giant ball as far in 2 s as the seed kicked the small one"; the seed on the giant ball had a median of 0.74 m (max 0.86 of 6 takes), chosen from +# the seed's feasibility takes BEFORE the item was queued. Also reported, not in the verdict: goal (ball centre ever inside 1.40 <= x <= 1.80, |y| < 0.50, +# z < 0.50), median travel at 1 s and 2 s, median aim angle of the displacement at 1.5 s (deg off +x). +# c = stock small-ball task, random heading: success = held AND ball >= 1.0 m (planar) from its start by t = 3.0 s (the no-loss check). +# pre-registered: a = new vs seed one-sided (gain); c = no-loss, two-sided (a loss = significant with new lower); b (play shoves) reported, not in the verdict. +# verdict line: GAIN if a one-sided p < 0.05 and no loss on c; NO GAIN otherwise (loss named when present). exact Fisher via math.comb. +import glob, math, os, re, statistics +TAG = os.environ.get('PROOF_TAG', '2026-10-24'); NTAKES = {'a': 15, 'b': 10, 'c': 10} +if os.environ.get('PROOF_N'): NTAKES = {k: int(os.environ['PROOF_N']) for k in 'abc'} # test hook, default = the real run +from math import comb +S = re.compile(r't=\s*([\d.]+)s step=\s*\d+ trunk_z=\s*([-\d.]+)mm grav_b=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\) ball=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\)') +A0 = re.compile(r'after reset:.*?ball=\(([-+\d.]+),([-+\d.]+),([-+\d.]+)\)') +R = re.compile(r'RESET at t=\s*([\d.]+)') +END = 5.95 +def goal_in(x, y, z): return 1.40 <= x <= 1.80 and abs(y) < 0.50 and z < 0.50 +def take(f, cond): + t = open(f, errors='replace').read() + a0 = A0.search(t) + rows = [(float(m[1]), float(m[3]), float(m[4]), float(m[5]), float(m[6]), float(m[7]), float(m[8])) for m in S.finditer(t)] # t, gx, gy, gz, bx, by, bz + rows = [r for r in rows if r[0] <= END] + if not a0 or not rows: return None + sx, sy = float(a0[1]), float(a0[2]) + rs = [float(x) for x in R.findall(t) if float(x) < 5.9] + falls, st = 0, 'up' + for r in rows: + if st == 'up' and r[3] > -0.5: falls += 1; st = 'down' + elif st == 'down' and r[3] < -0.9: st = 'up' + held = falls == 0 and not rs + def at(tt): return min(rows, key=lambda r: abs(r[0] - tt)) + d3 = max(math.hypot(r[4] - sx, r[5] - sy) for r in rows if r[0] <= 3.0) + r15, r10, r20 = at(1.5), at(1.0), at(2.0) + d1 = math.hypot(r10[4] - sx, r10[5] - sy); d2 = math.hypot(r20[4] - sx, r20[5] - sy) + aim = math.degrees(math.atan2(r15[5] - sy, r15[4] - sx)) + spd = math.hypot(r10[4] - sx, r10[5] - sy) / max(r10[0], 0.1) + last = rows[-1] + goal = any(goal_in(r[4], r[5], r[6]) for r in rows) + kicked = d3 >= 1.0 + return dict(held=held, goal=goal, kicked=kicked, aim=aim, spd=spd, d1=d1, d2=d2, power=d2 >= 1.25, ok=(held and (d2 >= 1.25 if cond in 'ab' else kicked))) +def f1(a, n1, b, n2): + K = a + b; N = n1 + n2 + return sum(comb(n1, x) * comb(n2, K - x) for x in range(a, min(n1, K) + 1)) / comb(N, K) +def f2(a, n1, b, n2): + K = a + b; N = n1 + n2; 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)) / comb(N, K)) +def med(v): return statistics.median(v) if v else float('nan') +res = {} +for c in 'abc': + d = os.path.expanduser(f'~/Pollen/clips/proof-bk-{c}-{TAG}'); out = {} + for f in sorted(glob.glob(d + '/*-t*.log')): + if f.endswith('.full.log'): continue + pol = os.path.basename(f).split('-')[0] + out.setdefault(pol, []).append(take(f, c)) + me, ri = out.get(f'bkn{c}', []), out.get(f'bks{c}', []) + nn, ns = [x for x in me if x], [x for x in ri if x] + a, n1, b, n2 = sum(x['ok'] for x in nn), len(nn), sum(x['ok'] for x in ns), len(ns) + if not n1 or not n2: print(f'{c}: no takes yet'); res[c] = None; continue + p1, p2 = f1(a, n1, b, n2), f2(a, n1, b, n2); res[c] = (a, n1, b, n2, p1, p2) + def line(nm, xs): return (f'{nm} held {sum(x["held"] for x in xs)}/{len(xs)} kicked {sum(x["kicked"] for x in xs)}/{len(xs)}' + + (f' goal {sum(x["goal"] for x in xs)}/{len(xs)} power {sum(x["power"] for x in xs)}/{len(xs)}' if c in 'ab' else '') + f' median aim {med([x["aim"] for x in xs]):+.1f} deg, travel@1s {med([x["d1"] for x in xs]):.2f} m @2s {med([x["d2"] for x in xs]):.2f} m') + print(f'{c}: new {a}/{n1} vs seed {b}/{n2} one-sided p={p1:.4f} two-sided p={p2:.4f} no-sample takes new {len(me)-n1} seed {len(ri)-n2}') + print(f' new : {line("new ", nn)}'); print(f' seed : {line("seed", ns)}') +if all(res.get(c) and res[c][1] == NTAKES[c] and res[c][3] == NTAKES[c] for c in 'abc'): + gain = res['a'][4] < 0.05 + loss = [c for c in 'c' if res[c][5] < 0.05 and res[c][0] / res[c][1] < res[c][2] / res[c][3]] + print('VERDICT:', ('GAIN' if gain and not loss else 'NO GAIN') + (f' (loss on {",".join(loss)})' if loss else '')) +else: + print('VERDICT: incomplete (not every condition has its full new + seed takes yet)') diff --git a/tools/headless_play.py b/tools/headless_play.py index 582bac6cef7260cf615ba8a02302d2662e31b429..3c7a2bc3285f31768d9a19a72253b43c4422a5b3 100644 --- a/tools/headless_play.py +++ b/tools/headless_play.py @@ -239,6 +239,13 @@ 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) + # BallKick (and any env with a push-magnitude curriculum) binds a curriculum term to the event by name and raises + # "Event term 'push_robot' not found" at env build once the event is gone (found 2026-10-24); drop those terms too. + if isinstance(cfg.curriculum, dict): + for cname, ct in list(cfg.curriculum.items()): + if (getattr(ct, "params", None) or {}).get("event_name") == "push_robot": + cfg.curriculum.pop(cname) + print(f"[headless_play] no-push: curriculum term {cname} dropped (bound to push_robot)", 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) diff --git a/tools/proof-bk-a.sh b/tools/proof-bk-a.sh new file mode 100644 index 0000000000000000000000000000000000000000..662ca8ddc7afac1116c25afa6111fb8f5293236f --- /dev/null +++ b/tools/proof-bk-a.sh @@ -0,0 +1,18 @@ +#!/bin/bash +# proof-bk-a (2026-10-24, staged with 09z10): GIANT BALL (r 0.15 m, 0.275 kg), goal at 1.4 m, duck turned to face it (face_goal), NO shoves. PRE-REGISTERED GAIN CONDITION: success = held (no tilt fall, no mid RESET) AND the ball >= 1.25 m from its start by t = 2.0 s (the seed's own median on the 70 mm ball; its median on the giant ball is 0.74 m); new vs seed, one-sided Fisher p < 0.05. +# policies: bkna-tN = the 09z10 giant-ball kick (duckbigkick model_16000), bksa-tN = its seed (09l kickbl model_13000, trained on the 70 mm / 15 g ball). +# 15 takes per policy, 1 env, standing spawn, 6 s episodes, 0.1 s samples, 1280x720, camera D (fixed world camera, az 65 / 1.75 m / -18 deg, lookat 0.8,0,0.12: duck, giant ball and goal in frame; checked on seed takes 2026-10-24). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), BK_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (bkna/bksa), unique across proof-bk a/b/c; proof-common.sh keys its tmp dir by batch. scored with bk-score-2026-10-24.py. +export MICRODUCK_BIGKICK_GOAL=1 +TASK=Mjlab-BallKick-Flat-Backlash-Big-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-bk-a-${PROOF_TAG:-2026-10-24} +. /home/witcheer/Pollen/proof-common.sh +Z=${BK_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckbigkick/*_duckbigkick/model_16000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_BK_CHECKPOINT (09z10 model_16000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckkickbl/2026-09-28_14-10-20_duckkickbl/model_13000.pt +[ -f "$R" ] || { echo "NO_SEED_CHECKPOINT $R"; exit 2; } +echo "bk ckpt: $Z seed (bksa, kickbl model_13000): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 6 --log-every 5 --spawn standing --no-push --cam-world 0.8,0,0.12 --cam-distance 1.75 --cam-elevation -18 --cam-azimuth 65" +for i in $(seq 1 ${PROOF_N:-15}); do for q in bkna:$Z bksa:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 300 $C; done; done +echo "=== $(date -u +%T) PROOF_BK_A_END ===" diff --git a/tools/proof-bk-b.sh b/tools/proof-bk-b.sh new file mode 100644 index 0000000000000000000000000000000000000000..7729aff092f51078910a61cf3eb82c941223a5a0 --- /dev/null +++ b/tools/proof-bk-b.sh @@ -0,0 +1,18 @@ +#!/bin/bash +# proof-bk-b (2026-10-24, staged with 09z10): GIANT BALL, goal at 1.4 m, face_goal, WITH the maker's play shoves (0.5-1.0 s interval, +-0.3 m/s). secondary condition, reported, not part of the verdict line (play shoves are 3-6x harsher than the training interval). +# policies: bknb-tN = the 09z10 giant-ball kick (duckbigkick model_16000), bksb-tN = its seed (09l kickbl model_13000, trained on the 70 mm / 15 g ball). +# 10 takes per policy, 1 env, standing spawn, 6 s episodes, 0.1 s samples, 1280x720, camera D (fixed world camera, az 65 / 1.75 m / -18 deg, lookat 0.8,0,0.12: duck, giant ball and goal in frame; checked on seed takes 2026-10-24). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), BK_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (bknb/bksb), unique across proof-bk a/b/c; proof-common.sh keys its tmp dir by batch. scored with bk-score-2026-10-24.py. +export MICRODUCK_BIGKICK_GOAL=1 +TASK=Mjlab-BallKick-Flat-Backlash-Big-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-bk-b-${PROOF_TAG:-2026-10-24} +. /home/witcheer/Pollen/proof-common.sh +Z=${BK_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckbigkick/*_duckbigkick/model_16000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_BK_CHECKPOINT (09z10 model_16000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckkickbl/2026-09-28_14-10-20_duckkickbl/model_13000.pt +[ -f "$R" ] || { echo "NO_SEED_CHECKPOINT $R"; exit 2; } +echo "bk ckpt: $Z seed (bksb, kickbl model_13000): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 6 --log-every 5 --spawn standing --cam-world 0.8,0,0.12 --cam-distance 1.75 --cam-elevation -18 --cam-azimuth 65" +for i in $(seq 1 ${PROOF_N:-10}); do for q in bknb:$Z bksb:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 300 $C; done; done +echo "=== $(date -u +%T) PROOF_BK_B_END ===" diff --git a/tools/proof-bk-c.sh b/tools/proof-bk-c.sh new file mode 100644 index 0000000000000000000000000000000000000000..456fb2af6d973332980613b8f05fc8c2e64b08c5 --- /dev/null +++ b/tools/proof-bk-c.sh @@ -0,0 +1,18 @@ +#!/bin/bash +# proof-bk-c (2026-10-24, staged with 09z10): SMALL BALL (the stock backlash kick task, 70 mm / 15 g), random heading, NO shoves. NO-LOSS CONDITION: success = held AND the ball >= 1.0 m from its start by 3 s; two-sided Fisher, a loss = significant with the new policy lower. +# policies: bknc-tN = the 09z10 giant-ball kick (duckbigkick model_16000), bksc-tN = its seed (09l kickbl model_13000, trained on the 70 mm / 15 g ball). +# 10 takes per policy, 1 env, standing spawn, 6 s episodes, 0.1 s samples, 1280x720, camera D (fixed world camera, az 65 / 1.75 m / -18 deg, lookat 0.8,0,0.12: duck, giant ball and goal in frame; checked on seed takes 2026-10-24). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), BK_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (bknc/bksc), unique across proof-bk a/b/c; proof-common.sh keys its tmp dir by batch. scored with bk-score-2026-10-24.py. +# no goal, stock task: random heading, the score reads ball distance only +TASK=Mjlab-BallKick-Flat-Backlash-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-bk-c-${PROOF_TAG:-2026-10-24} +. /home/witcheer/Pollen/proof-common.sh +Z=${BK_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckbigkick/*_duckbigkick/model_16000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_BK_CHECKPOINT (09z10 model_16000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckkickbl/2026-09-28_14-10-20_duckkickbl/model_13000.pt +[ -f "$R" ] || { echo "NO_SEED_CHECKPOINT $R"; exit 2; } +echo "bk ckpt: $Z seed (bksc, kickbl model_13000): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 6 --log-every 5 --spawn standing --no-push --cam-world 0.8,0,0.12 --cam-distance 1.75 --cam-elevation -18 --cam-azimuth 65" +for i in $(seq 1 ${PROOF_N:-10}); do for q in bknc:$Z bksc:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 300 $C; done; done +echo "=== $(date -u +%T) PROOF_BK_C_END ===" diff --git a/tools/proof-z8-a.sh b/tools/proof-z8-a.sh new file mode 100644 index 0000000000000000000000000000000000000000..22d7abbd5c488ed470322babb9fcc4547f75b9ae --- /dev/null +++ b/tools/proof-z8-a.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# proof-z8-a (2026-10-23, staged with 09z8): STAIRS condition: flights of 2-3 steps only (MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5), riser 25 mm (the top of the trained band, flights top out at 50-75 mm), foot friction 0.2 + 2x shoves every 3-6 s, in the Stairs env, z8 vs walk-mixslope. PRE-REGISTERED GAIN CONDITION (one-sided Fisher). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floors; harmless on a plane). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), Z8_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (z8a-tN / mxa-tN), unique across proof-z8 a/b/c and every earlier batch; proof-common.sh keys its +# tmp dir by batch (basename of OUT). scored with z8-score-2026-10-23.py. rival = walk-mixslope (09z7 model_16000, md5 82e6979d, = the seed). +export MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5 +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +export MICRODUCK_PUSH_SCALE=2.0 +export MICRODUCK_PUSH_INTERVAL=3,6 +TASK=Mjlab-Velocity-Flat-Backlash-Stairs-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z8-a-${PROOF_TAG:-2026-10-23} +. /home/witcheer/Pollen/proof-common.sh +Z=${Z8_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstairs/*_duckvelstairs/model_19000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_Z8_CHECKPOINT (09z8 model_19000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmixslope/2026-10-22_14-18-58_duckvelmixslope/model_16000.pt +[ -f "$R" ] || { echo "NO_RIVAL_CHECKPOINT $R"; exit 2; } +echo "z8 ckpt: $Z rival mxa (walk-mixslope): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 ${PROOF_N:-15}); do for q in z8a:$Z mxa:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z8_A_END ===" diff --git a/tools/proof-z8-b.sh b/tools/proof-z8-b.sh new file mode 100644 index 0000000000000000000000000000000000000000..549a4c9ca48a3e6fe90f92d9637648f904152476 --- /dev/null +++ b/tools/proof-z8-b.sh @@ -0,0 +1,18 @@ +#!/bin/bash +# proof-z8-b (2026-10-23, staged with 09z8): FLAT, no loss: the maker's own flat task Mjlab-Velocity-Flat-Backlash-MicroDuck (plane, default DR, maker play shoves every 0.5-1.0 s), z8 vs walk-mixslope. NO-LOSS CONDITION (two-sided Fisher; a loss = significant two-sided result against z8). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floors; harmless on a plane). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), Z8_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (z8b-tN / mxb-tN), unique across proof-z8 a/b/c and every earlier batch; proof-common.sh keys its +# tmp dir by batch (basename of OUT). scored with z8-score-2026-10-23.py. rival = walk-mixslope (09z7 model_16000, md5 82e6979d, = the seed). +TASK=Mjlab-Velocity-Flat-Backlash-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z8-b-${PROOF_TAG:-2026-10-23} +. /home/witcheer/Pollen/proof-common.sh +Z=${Z8_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstairs/*_duckvelstairs/model_19000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_Z8_CHECKPOINT (09z8 model_19000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmixslope/2026-10-22_14-18-58_duckvelmixslope/model_16000.pt +[ -f "$R" ] || { echo "NO_RIVAL_CHECKPOINT $R"; exit 2; } +echo "z8 ckpt: $Z rival mxb (walk-mixslope): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 ${PROOF_N:-15}); do for q in z8b:$Z mxb:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z8_B_END ===" diff --git a/tools/proof-z8-c.sh b/tools/proof-z8-c.sh new file mode 100644 index 0000000000000000000000000000000000000000..5023062d665e16f57e6393dc80ac46016ad4ac91 --- /dev/null +++ b/tools/proof-z8-c.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# proof-z8-c (2026-10-23, staged with 09z8): MIX-SLOPE condition, no loss: the walk-mixslope's own condition = proof-z7-a harness (MixSlope env, hill 0.15 + 25 mm single step + foot friction 0.2 + 2x shoves every 3-6 s), z8 vs walk-mixslope. NO-LOSS CONDITION (two-sided Fisher). +# 15 takes per policy, 20 s, 0.1 s samples, tracking camera, --cmd-vx 0.3, --no-bounds (generator floors; harmless on a plane). +# test hooks (e2e of the proof item only): PROOF_TAG (OUT suffix), PROOF_N (takes per policy), Z8_CKPT (checkpoint override); defaults are the real run. +# take names carry a per-batch prefix (z8c-tN / mxc-tN), unique across proof-z8 a/b/c and every earlier batch; proof-common.sh keys its +# tmp dir by batch (basename of OUT). scored with z8-score-2026-10-23.py. rival = walk-mixslope (09z7 model_16000, md5 82e6979d, = the seed). +export MICRODUCK_SLOPE=0.15,0.15 +export MICRODUCK_STEP_HEIGHT=0.025,0.025 +export MICRODUCK_FOOT_FRICTION=0.2,0.2 +export MICRODUCK_PUSH_SCALE=2.0 +export MICRODUCK_PUSH_INTERVAL=3,6 +TASK=Mjlab-Velocity-Flat-Backlash-MixSlope-MicroDuck; OUT=/home/witcheer/Pollen/clips/proof-z8-c-${PROOF_TAG:-2026-10-23} +. /home/witcheer/Pollen/proof-common.sh +Z=${Z8_CKPT:-$(ls -1 /home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelstairs/*_duckvelstairs/model_19000.pt 2>/dev/null | tail -n 1)} +[ -n "$Z" ] || { echo "NO_Z8_CHECKPOINT (09z8 model_19000 missing: item cut or not run)"; exit 2; } +R=/home/witcheer/Pollen/microduck_rl/logs/rsl_rl/duckvelmixslope/2026-10-22_14-18-58_duckvelmixslope/model_16000.pt +[ -f "$R" ] || { echo "NO_RIVAL_CHECKPOINT $R"; exit 2; } +echo "z8 ckpt: $Z rival mxc (walk-mixslope): $R env: $(env | grep ^MICRODUCK_ | tr '\n' ' ')" +C="--episode-s 20 --log-every 5 --cam-distance 0.55 --cam-elevation -10 --cmd-vx 0.3 --no-bounds" +P="" +for i in $(seq 1 ${PROOF_N:-15}); do for q in z8c:$Z mxc:$R; do + play ${q%%:*}-t$i $TASK ${q#*:} 1000 $C $P; done; done +echo "=== $(date -u +%T) PROOF_Z8_C_END ===" diff --git a/tools/stairs-play-check-2026-10-23.sh b/tools/stairs-play-check-2026-10-23.sh new file mode 100644 index 0000000000000000000000000000000000000000..908f73d56e959e8cf98714b65d4c9740af7f7859 --- /dev/null +++ b/tools/stairs-play-check-2026-10-23.sh @@ -0,0 +1,44 @@ +#!/bin/bash +# stairs-play-check-2026-10-23.sh: do the verdict overrides reach the PLAY env of the stairs task? builds the play env (1 env, GPU, ~1 GB, +# a minute) under three override sets and prints (a) the tile mix actually generated (distinct box-geom top heights + env origin z), +# (b) the two foot-collision geoms' friction, (c) the push event range + interval of the play cfg: +# A MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5 MICRODUCK_STEP_HEIGHT=0.025,0.025 FOOT_FRICTION=0.2,0.2 PUSH_SCALE=2.0 PUSH_INTERVAL=3,6 +# (proof-z8-a): origin z 50 or 75 mm, friction 0.200, push +-0.6 at 3-6 s. (as run 2026-10-23: origin z 75.0, friction 0.2/0.2, push +-0.6 at 3-6 s.) +# NOTE: the box-top histogram prints {} in this mjlab build (terrain geoms are not on body 0 of the compiled env, the 09z3 step check used the same +# filter on an older read); origin z is the evidence, and stairs-profile-check-2026-10-23.sh reads the real heights by ray-cast. +# B MICRODUCK_STAIRS_MIX=flat:1 (stairs flat control): no raised box, origin z 0. +# C no override: the training mix (origin z drawn over stairs/single/hill/flat). +exec > >(tee -a /home/witcheer/Pollen/stairs-play-check-2026-10-23.log) 2>&1 +export PATH=/home/witcheer/.cargo/bin:/home/witcheer/.local/bin:$PATH +export MUJOCO_GL=egl +cd /home/witcheer/Pollen/microduck_rl +run() { env "$@" uv run python - <<'EOF' 2>&1 | grep -E "^(CHK|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-Stairs-MicroDuck", play=True) + pe = cfg.events["push_robot"]; fr = cfg.events["foot_friction"].params["ranges"] + 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 + tag = ",".join(f"{k[10:]}={v}" for k, v in sorted(os.environ.items()) if k.startswith("MICRODUCK_")) + print("CHK [%s] box tops mm (count): %s" % (tag, dict(sorted(tops.items())))) + print("CHK [%s] origin z (env 0): %.1f mm; friction range cfg %s; push %s interval %s" % (tag, 1000 * float(env.scene.env_origins[0, 2]), fr, pe.params["velocity_range"], pe.interval_range_s)) + gf = env.sim.model.geom_friction.detach().cpu() + foot = [i for i in range(m.ngeom) if m.geom_priority[i] > 0] + print("CHK [%s] foot geoms (priority>0) friction[:, 0] over envs: %s" % (tag, [round(float(gf[0, i, 0]), 3) for i in foot])) +except Exception: + print("ERR", traceback.format_exc().replace("\n", " | ")[-1500:]) +EOF +} +run MICRODUCK_STAIRS_MIX=stairs2:0.5,stairs3:0.5 MICRODUCK_STEP_HEIGHT=0.025,0.025 MICRODUCK_FOOT_FRICTION=0.2,0.2 MICRODUCK_PUSH_SCALE=2.0 MICRODUCK_PUSH_INTERVAL=3,6 +run MICRODUCK_STAIRS_MIX=flat:1 +run MICRODUCK_X=none +echo "=== $(date -u +%T) STAIRS_PLAY_CHECK_END ===" diff --git a/tools/z8-score-2026-10-23.py b/tools/z8-score-2026-10-23.py new file mode 100644 index 0000000000000000000000000000000000000000..7546627cf3d95a11476ea4c0dfd83a899cceec22 --- /dev/null +++ b/tools/z8-score-2026-10-23.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +# z8-score-2026-10-23.py: 09z8 (stairs) verdict scoring (z7 scorer, names/dirs changed). held = no tilt fall and no mid RESET (take-score-2026-10-11 rule), +# exact Fisher via math.comb. pre-registered: a = stairs condition vs walk-mixslope (one-sided gain); b (flat, maker task) and c (the MixSlope condition) vs walk-mixslope +# = no-loss checks (two-sided; a loss = significant two-sided result with z8 lower). +# verdict line: GAIN if a one-sided p < 0.05 and no loss on b/c; NO GAIN otherwise (loss named when present). +import glob, os, re +TAG = os.environ.get('PROOF_TAG', '2026-10-23'); NTAKES = int(os.environ.get('PROOF_N', '15')) # test hooks, defaults = the real run +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 +REACH = {} # pol -> list of max r (m) per take, to say how many takes got as far as the first riser (stairs3 1.0 m, stairs2 1.25 m from the origin) +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])) for m in S.finditer(t) if float(m[1]) <= END] + pol = os.path.basename(f).split('-')[0] + REACH.setdefault(pol, []).append(max([float(m[6]) for m in S.finditer(t)] or [0.0])) + if not v: out.setdefault(pol, []).append(None); continue + rs = [float(x) for x in R.findall(t) if float(x) < END] + falls = 0; st = 'up' + for tt, gz in v: + if st == 'up' and gz > -0.5: falls += 1; st = 'down' + elif st == 'down' and gz < -0.9: st = 'up' + out.setdefault(pol, []).append(falls == 0 and not rs) + return out +def f1(a, n1, b, n2): + K = a + b; N = n1 + n2 + return sum(comb(n1, x) * comb(n2, K - x) for x in range(a, min(n1, K) + 1)) / comb(N, K) +def f2(a, n1, b, n2): + K = a + b; N = n1 + n2; 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)) / comb(N, K)) +res = {} +for c, me, rival, label in (('a', 'z8a', 'mxa', 'walk-mixslope'), ('b', 'z8b', 'mxb', 'walk-mixslope'), ('c', 'z8c', 'mxc', 'walk-mixslope')): + r = score(os.path.expanduser(f'~/Pollen/clips/proof-z8-{c}-{TAG}')) + z = [x for x in r.get(me, []) if x is not None]; o = [x for x in r.get(rival, []) if x is not None] + a, n1, b, n2 = sum(z), len(z), sum(o), len(o) + if not n1 or not n2: print(f'{c}: no takes yet'); res[c] = None; continue + p1, p2 = f1(a, n1, b, n2), f2(a, n1, b, n2); res[c] = (a, n1, b, n2, p1, p2) + print(f'{c}: z8 {a}/{n1} vs {label} {b}/{n2} one-sided p={p1:.4f} two-sided p={p2:.4f} no-sample takes z8 {r.get(me,[]).count(None)} {rival} {r.get(rival,[]).count(None)} reached r>=1.0 m: z8 {sum(1 for x in REACH.get(me,[]) if x>=1.0)} {rival} {sum(1 for x in REACH.get(rival,[]) if x>=1.0)}') +if all(res.get(c) and res[c][1] == NTAKES and res[c][3] == NTAKES for c in 'abc'): + gain = res['a'][4] < 0.05 + loss = [c for c in 'bc' if res[c][5] < 0.05 and res[c][0] / res[c][1] < res[c][2] / res[c][3]] + print('VERDICT:', ('GAIN' if gain and not loss else 'NO GAIN') + (f' (loss on {",".join(loss)})' if loss else '')) +else: + print(f'VERDICT: incomplete (not every condition has {NTAKES} + {NTAKES} takes yet)')