skill tree training log: levels 1b and 5b: gear-play (backlash) twins, v2 of walk-flat and walk-recover; curves, queue items, proof takes, clips, manifests

README.md

@@ -24,16 +24,18 @@ Sibling dataset: [witcheer/microduck-hermes-runs](https://huggingface.co/dataset
 
 | level | skill | task id | iterations | wall time | verdict in sim | policy repo |
 |---|---|---|---|---|---|---|
-| 1 | walk | `Mjlab-Velocity-Flat-MicroDuck` | 4,000 | 58 min (0.88 s/it) | 0.15 m/s held for 12 s on a 0.30 m/s command, trunk 119 to 121 mm | [microduck-walk-flat](https://huggingface.co/witcheer/microduck-walk-flat) |
+| 1 | walk | `Mjlab-Velocity-Flat-MicroDuck` | 4,000 | 58 min (0.88 s/it) | 0.15 m/s held for 12 s on a 0.30 m/s command, trunk 119 to 121 mm | [microduck-walk-flat](https://huggingface.co/witcheer/microduck-walk-flat) `@v1` |
 | 2 | get up | `Mjlab-StandUp-Flat-MicroDuck` | 25,000 (15k + 10k extension) | 407 min (0.98 s/it) | stands from sitting and from face down and holds; from flat on its back it freezes half-rolled, 0 of 2 takes | [microduck-standup](https://huggingface.co/witcheer/microduck-standup) |
 | 3 | sit and stand on command | `Mjlab-SitStand-Flat-MicroDuck` | 15,000 | 272 min (1.08 to 1.10 s/it) | stand at 116 mm, sit at 59 mm, switches in under 1 s in the takes | none: posture-flag policies are daemon-driven and not publishable through `uv run publish` |
 | 4 | walk on rough ground | `Mjlab-Velocity-Rough-MicroDuck` | 8,000 | 324 min (2.44 s/it) | upright for a 12 s take on flat ground; no rough-ground take recorded yet | [microduck-walk-rough](https://huggingface.co/witcheer/microduck-walk-rough) |
-| 5 | walk and recover in one policy | `Mjlab-VelStand-Flat-MicroDuck` | 20,000 | 326 min (0.98 s/it) | walks and holds 20 s from standing, catches a forward lean; does not get up from flat on its back, 0 of 3 | [microduck-walk-recover](https://huggingface.co/witcheer/microduck-walk-recover) |
+| 5 | walk and recover in one policy | `Mjlab-VelStand-Flat-MicroDuck` | 20,000 | 326 min (0.98 s/it) | walks and holds 20 s from standing, catches a forward lean; does not get up from flat on its back, 0 of 3 | [microduck-walk-recover](https://huggingface.co/witcheer/microduck-walk-recover) `@v1` |
 | 6 | forward roll | `Mjlab-Roulade-Flat-MicroDuck` | 10,000 | 173 min (1.04 s/it) | 3 of 3 takes roll and finish standing: on its back at 0.8 s, upright at 1.0 s, 115 mm by 1.2 s | [microduck-roulade](https://huggingface.co/witcheer/microduck-roulade) |
 | 7 | right-foot ball kick | `Mjlab-BallKick-Flat-MicroDuck` | 10,000 | 161 min (0.97 s/it) | 3 of 3 takes kick and stay standing: the ball travels 1.03 to 1.13 m in the first second, trunk 100 to 123 mm over the 4.1 s logged, no resets; the policy never sees the ball (by design), so the ball has to sit at the right toe | [microduck-kick-right](https://huggingface.co/witcheer/microduck-kick-right) |
+| 1b | walk, with ±1° of gear play in every servo | `Mjlab-Velocity-Flat-Backlash-MicroDuck` | 3,000 on top of level 1's 4,000 | 57 min (1.16 s/it) | with gear play: on its feet for 20 s in 4 of 5 takes, level 1 in 2 of 5 (level 1 in its own sim without gear play: 1 of 3); the training fall rate is no better (fell_over 0.496 against 0.453), so a small-sample hint only | [microduck-walk-flat](https://huggingface.co/witcheer/microduck-walk-flat) `@v2` (default) |
+| 5b | walk and recover, with ±1° of gear play in every servo | `Mjlab-VelStand-Flat-Backlash-MicroDuck` | 3,000 on top of level 5's 20,000 | 62 min (1.25 s/it) | with gear play: 6 of 7 standing takes hold 20 s, level 5 also 6 of 7; neither gets up from its belly or back, 0 of 3 each | [microduck-walk-recover](https://huggingface.co/witcheer/microduck-walk-recover) `@v2` (default) |
 | 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. 4096 parallel environments, 24 steps per iteration, PPO from rsl_rl, tensorboard logging.
+All budgets are the maker's `max_iterations` from the task config unless stated. Levels 1b and 5b are the maker's backlash variants of levels 1 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 is v2 of that level's policy repo (v1 stays installable with `@v1`). 4096 parallel environments, 24 steps per iteration, PPO from rsl_rl, tensorboard logging.
 
 ## What is in a level folder
 
@@ -41,12 +43,13 @@ 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 and 7 so far; level 7 adds the ball position on every line). Verdicts are read from these numbers, not from the video.
-- `clip-*.mp4`: iteration 0 against the trained policy, same camera, same spawn, for levels 1, 5 and 6; the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet.
+- `proof-takes/*.log`: the recorder's per-step trunk height and body-frame gravity for each take the verdict was read from (levels 5, 6, 7, 1b and 5b 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. Verdicts are read from these numbers, not from the video.
+- `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, the trained policy alone for levels 3 and 7 (level 7 holds the opening frame for about a second before the take plays, and the camera follows the ball). Level 2 has no clip because the first one I made was wrong (an environment reset at the 6 s episode boundary read as a stand-up) and a correct one is not recorded yet.
 
 ## Tools
 
 - `tools/headless_play.py`: records any checkpoint of any mjlab task over ssh with no display. Both of mjlab's play viewers fail headless (viser asserts on a degenerate command slider, the native one wants X11); this wrapper swaps them for a plain policy loop, lets play's own recorder write the mp4, forces the spawn state, overrides the episode length, prints every reset and samples trunk height and body-frame gravity at a chosen cadence. Copy it into the microduck_rl project dir and run with `uv run python`.
+- `tools/velbl-takes.sh`, `tools/vsbl-*.sh`: the recording batches behind levels 1b and 5b.
 - `tools/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
@@ -60,6 +63,8 @@ All budgets are the maker's `max_iterations` from the task config unless stated.
 - The roll task deletes the fall termination (a roll starts with a fall) and spawns half its episodes mid-roll with the chin tucked, so the hard second half is practised from iteration 1. Its reward was flat from iteration 2,000 of 10,000.
 - The kick task gives the policy no ball observation at all, because the real robot has no ball sensor; only the critic sees the ball. The ball is placed at the right toe at every reset and the policy kicks on timing. Its reward reached 92.9 by iteration 1,000 and ended at 90.1 at 10,000. 14 of its 10,001 logged iterations have a negative mean reward (the lowest -4,686.8 at iteration 4,361) while the mean episode length stays at about 246 to 250 steps, so these are not mass falls; the cause is not investigated yet. The chart clips the 8 deepest and says so; every raw value is in the csv.
 - A moving target needs a camera that follows it. A trunk-tracking camera lost the ball by 1.5 s, a fixed camera lost it out of a different edge each take (the spawn heading is random), and a wide shot shrank the duck to a speck. Tracking the ball at 0.9 m keeps both in frame for the first second or so; the numbers cover the rest.
+- ±1° of gear play in every joint did not break either walk in simulation, even for the policies that never trained with it: level 5 held 6 of 7 standing takes with it, the same as its retrained twin. The extra 3,000 iterations with the play made no difference I can measure on walk-and-recover and only a small-sample one on the flat walk. What it does on a real servo is untested.
+- Random spawns hide a regression or invent one. The first gear-play batch spawned each take in a random pose, and one policy drew back and belly spawns while the other drew standing ones; forcing the spawn (standing, face down, face up) and recording each policy in every pose made the comparison fair.
 
 ## Posts
 

level-01b-walk-flat-gear-play/clip-v2-walks.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:867c439c210a7db436699091e9334b83fdc2e4dd651ea2a4fc2db8faba153f8f
+size 4496879

level-01b-walk-flat-gear-play/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-flat",
+  "kind": "perpetual",
+  "entry_pose": "standing",
+  "description": "v2: the v1 flat-ground walk fine-tuned with +-1 deg of gear play in every servo (Mjlab-Velocity-Flat-Backlash-MicroDuck), simulation only: v1's 4,000 iterations plus 3,000 with the slop, 4096 envs, 57 min on one RTX 5090. With the slop it stayed on its feet for 20 s in 4 of 5 takes; v1 did 2 of 5 in the same sim (small sample, the training fall rate did not improve). 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": "velbl-2026-09-25-it7000.onnx"
+  }
+}

level-01b-walk-flat-gear-play/proof-takes/ref-seed-t1.log

@@ -0,0 +1,209 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[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=(-0.054,-0.032,+0.130)
+[headless_play] t=  0.00s step=   0 trunk_z= 127.2mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 116.2mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 120.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.7mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 122.9mm grav_b=(+0.04,-0.06,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 121.3mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 119.7mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 119.9mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 124.8mm grav_b=(-0.07,-0.10,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 124.6mm grav_b=(-0.08,-0.08,-0.99)
+[headless_play] t=  1.10s step=  55 trunk_z= 118.1mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 122.2mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 116.6mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 121.6mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 115.0mm grav_b=(-0.03,+0.07,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 123.1mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 122.9mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 119.3mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 123.6mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 120.7mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 120.4mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 122.8mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 118.8mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 122.2mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 123.8mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 117.9mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 122.5mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 120.8mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 117.6mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 121.1mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 115.5mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 122.4mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 118.9mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 118.5mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 120.6mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 114.9mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 122.6mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 122.1mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 120.3mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 124.4mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 119.4mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 118.0mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 119.8mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 113.3mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 122.5mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 119.4mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 119.3mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 118.9mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 114.4mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 123.0mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 118.9mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 120.6mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 119.5mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 114.4mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 122.7mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 118.9mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 121.5mm grav_b=(+0.08,-0.00,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 122.5mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 116.4mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 113.6mm grav_b=(-0.06,+0.07,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 120.7mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 116.8mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 121.4mm grav_b=(+0.04,-0.08,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 126.7mm grav_b=(+0.02,-0.10,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 123.8mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 118.9mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 117.2mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 114.1mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 123.7mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 122.2mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 117.9mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 122.9mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 118.6mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 119.7mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 120.4mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 115.8mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 121.2mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 118.3mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 120.0mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 126.7mm grav_b=(+0.07,-0.06,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 126.5mm grav_b=(+0.10,-0.02,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 121.6mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 123.0mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 118.0mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 121.6mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 121.7mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 118.6mm grav_b=(+0.08,+0.05,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 123.1mm grav_b=(+0.09,+0.05,-0.99)
+[headless_play] t=  9.00s step= 450 trunk_z= 118.9mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 121.4mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 119.0mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 118.3mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 120.9mm grav_b=(+0.07,+0.04,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 113.6mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 119.8mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 117.1mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 120.3mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 121.1mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 112.4mm grav_b=(+0.05,-0.05,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 126.1mm grav_b=(+0.08,-0.12,-0.99)
+[headless_play] t= 10.20s step= 510 trunk_z= 127.5mm grav_b=(+0.07,-0.13,-0.99)
+[headless_play] t= 10.30s step= 515 trunk_z= 127.2mm grav_b=(+0.05,-0.10,-0.99)
+[headless_play] t= 10.40s step= 520 trunk_z= 125.8mm grav_b=(+0.06,-0.05,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 129.2mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 116.4mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 120.7mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 119.5mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 120.3mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 123.7mm grav_b=(+0.14,+0.03,-0.99)
+[headless_play] t= 11.10s step= 555 trunk_z= 112.4mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 124.4mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 117.4mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 122.4mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 119.1mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 121.2mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 124.3mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 117.9mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 126.5mm grav_b=(+0.05,+0.12,-0.99)
+[headless_play] t= 12.00s step= 600 trunk_z= 129.0mm grav_b=(+0.08,+0.19,-0.98)
+[headless_play] t= 12.10s step= 605 trunk_z= 131.2mm grav_b=(+0.10,+0.27,-0.96)
+[headless_play] t= 12.20s step= 610 trunk_z= 131.4mm grav_b=(+0.17,+0.41,-0.90)
+[headless_play] t= 12.30s step= 615 trunk_z= 114.4mm grav_b=(+0.16,+0.49,-0.86)
+[headless_play] t= 12.40s step= 620 trunk_z=  99.7mm grav_b=(+0.06,+0.75,-0.65)
+[headless_play] RESET at t= 12.46s step= 623 (env termination, not a recovery)
+[headless_play] t= 12.50s step= 625 trunk_z= 120.7mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 115.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 117.1mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 115.2mm grav_b=(+0.05,-0.03,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 118.0mm grav_b=(+0.04,-0.07,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 120.0mm grav_b=(+0.04,-0.06,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 113.5mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 121.6mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 120.0mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 115.5mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 121.0mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 117.6mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 114.0mm grav_b=(+0.12,+0.04,-0.99)
+[headless_play] t= 13.90s step= 695 trunk_z= 110.5mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 119.3mm grav_b=(+0.06,-0.04,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 116.7mm grav_b=(+0.11,-0.05,-0.99)
+[headless_play] t= 14.20s step= 710 trunk_z= 114.9mm grav_b=(+0.15,-0.05,-0.99)
+[headless_play] t= 14.30s step= 715 trunk_z= 113.7mm grav_b=(+0.20,-0.08,-0.98)
+[headless_play] t= 14.40s step= 720 trunk_z= 116.7mm grav_b=(+0.17,-0.05,-0.98)
+[headless_play] t= 14.50s step= 725 trunk_z= 108.4mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 125.7mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 120.9mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.6mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 124.3mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 122.8mm grav_b=(-0.04,+0.09,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 125.6mm grav_b=(-0.01,+0.09,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 121.9mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 117.1mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 115.3mm grav_b=(+0.12,-0.03,-0.99)
+[headless_play] t= 15.60s step= 780 trunk_z= 115.4mm grav_b=(+0.18,+0.02,-0.98)
+[headless_play] t= 15.70s step= 785 trunk_z= 124.8mm grav_b=(+0.06,-0.04,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 118.1mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 121.0mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 117.8mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 119.7mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 113.2mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 125.3mm grav_b=(-0.04,-0.11,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 128.8mm grav_b=(-0.05,-0.15,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 130.0mm grav_b=(-0.01,-0.16,-0.99)
+[headless_play] t= 16.60s step= 830 trunk_z= 130.1mm grav_b=(-0.00,-0.14,-0.99)
+[headless_play] t= 16.70s step= 835 trunk_z= 125.0mm grav_b=(-0.04,-0.09,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 120.9mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 121.1mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 115.5mm grav_b=(+0.06,-0.11,-0.99)
+[headless_play] t= 17.10s step= 855 trunk_z= 125.1mm grav_b=(+0.05,-0.16,-0.99)
+[headless_play] t= 17.20s step= 860 trunk_z= 123.7mm grav_b=(+0.05,-0.17,-0.98)
+[headless_play] t= 17.30s step= 865 trunk_z= 119.0mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 125.6mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 118.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 120.2mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 119.4mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 123.1mm grav_b=(-0.04,+0.12,-0.99)
+[headless_play] t= 17.90s step= 895 trunk_z= 128.6mm grav_b=(-0.02,+0.19,-0.98)
+[headless_play] t= 18.00s step= 900 trunk_z= 128.3mm grav_b=(-0.03,+0.21,-0.98)
+[headless_play] t= 18.10s step= 905 trunk_z= 128.4mm grav_b=(-0.00,+0.32,-0.95)
+[headless_play] t= 18.20s step= 910 trunk_z= 124.4mm grav_b=(+0.04,+0.49,-0.87)
+[headless_play] t= 18.30s step= 915 trunk_z= 104.3mm grav_b=(-0.01,+0.77,-0.64)
+[headless_play] RESET at t= 18.38s step= 919 (env termination, not a recovery)
+[headless_play] t= 18.40s step= 920 trunk_z= 117.5mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.5mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 119.9mm grav_b=(-0.08,+0.08,-0.99)
+[headless_play] t= 18.70s step= 935 trunk_z= 124.7mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 118.1mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 124.9mm grav_b=(-0.02,-0.07,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 121.7mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 124.0mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 115.2mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 126.3mm grav_b=(-0.05,-0.09,-0.99)
+[headless_play] t= 19.50s step= 975 trunk_z= 127.2mm grav_b=(-0.07,-0.09,-0.99)
+[headless_play] t= 19.60s step= 980 trunk_z= 121.5mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 124.0mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 121.3mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 121.8mm grav_b=(-0.01,-0.13,-0.99)
+[headless_play] t= 20.00s step=1000 trunk_z= 130.0mm grav_b=(-0.06,-0.19,-0.98)
+[headless_play] t= 20.10s step=1005 trunk_z= 132.7mm grav_b=(-0.09,-0.21,-0.97)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/ref-seed-t2.log

@@ -0,0 +1,209 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.7mm grav_b=(-0.00,+0.00,-1.00) root_w=(+0.016,-0.302,+0.128)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.1mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.9mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 118.9mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.2mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.5mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 120.5mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 126.0mm grav_b=(+0.02,+0.11,-0.99)
+[headless_play] t=  0.80s step=  40 trunk_z= 126.8mm grav_b=(+0.04,+0.12,-0.99)
+[headless_play] t=  0.90s step=  45 trunk_z= 125.3mm grav_b=(+0.04,+0.09,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 119.9mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 123.1mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 117.7mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 123.0mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 120.3mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 115.4mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 123.5mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 117.6mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 122.3mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 119.1mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 114.3mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 123.0mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 119.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 120.4mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 118.4mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 114.8mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 121.4mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 117.7mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 128.9mm grav_b=(+0.04,+0.20,-0.98)
+[headless_play] t=  2.90s step= 145 trunk_z= 126.9mm grav_b=(+0.09,+0.32,-0.94)
+[headless_play] t=  3.00s step= 150 trunk_z= 121.5mm grav_b=(+0.12,+0.59,-0.80)
+[headless_play] t=  3.10s step= 155 trunk_z=  79.6mm grav_b=(+0.20,+0.86,-0.47)
+[headless_play] RESET at t=  3.14s step= 157 (env termination, not a recovery)
+[headless_play] t=  3.20s step= 160 trunk_z= 115.6mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 115.9mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 125.2mm grav_b=(+0.00,+0.13,-0.99)
+[headless_play] t=  3.50s step= 175 trunk_z= 128.9mm grav_b=(+0.05,+0.16,-0.98)
+[headless_play] t=  3.60s step= 180 trunk_z= 132.0mm grav_b=(+0.06,+0.14,-0.99)
+[headless_play] t=  3.70s step= 185 trunk_z= 125.8mm grav_b=(+0.02,+0.14,-0.99)
+[headless_play] t=  3.80s step= 190 trunk_z= 138.2mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 124.3mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 122.7mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 122.6mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 119.4mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 123.6mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 117.1mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 123.1mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 124.3mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 118.9mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 123.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 119.8mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 121.8mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 120.9mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 120.1mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 122.3mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 115.8mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 125.5mm grav_b=(-0.04,+0.07,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 126.0mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 123.6mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 118.6mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 123.4mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 125.5mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 122.0mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 122.4mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 124.5mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 116.9mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 123.3mm grav_b=(-0.04,+0.07,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 124.1mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 118.1mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 123.2mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 118.3mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 118.9mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 120.0mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 120.8mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 119.0mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 118.5mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 118.1mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 118.3mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 120.5mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 119.1mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 122.0mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 118.6mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 119.3mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 117.6mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 118.7mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 118.2mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 118.1mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 118.0mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 117.9mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 117.8mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 117.7mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 118.4mm grav_b=(-0.08,-0.00,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 117.9mm grav_b=(-0.12,-0.02,-0.99)
+[headless_play] t=  9.50s step= 475 trunk_z= 119.0mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z=  92.6mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 102.2mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 106.7mm grav_b=(+0.09,+0.00,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 113.1mm grav_b=(+0.10,+0.01,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 115.7mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 119.0mm grav_b=(+0.03,-0.10,-0.99)
+[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 117.6mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 118.1mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 120.2mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 123.4mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 117.3mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 124.3mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 123.1mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 118.8mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 123.4mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 116.9mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 124.3mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 122.9mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 119.3mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 119.4mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 123.0mm grav_b=(+0.00,+0.08,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 125.1mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 120.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 125.1mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 123.0mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 120.1mm grav_b=(-0.01,+0.09,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 129.2mm grav_b=(-0.00,+0.18,-0.98)
+[headless_play] t= 12.40s step= 620 trunk_z= 129.8mm grav_b=(+0.05,+0.21,-0.98)
+[headless_play] t= 12.50s step= 625 trunk_z= 132.2mm grav_b=(+0.08,+0.21,-0.98)
+[headless_play] t= 12.60s step= 630 trunk_z= 127.5mm grav_b=(+0.07,+0.17,-0.98)
+[headless_play] t= 12.70s step= 635 trunk_z= 138.0mm grav_b=(+0.06,+0.13,-0.99)
+[headless_play] t= 12.80s step= 640 trunk_z= 108.9mm grav_b=(+0.07,+0.10,-0.99)
+[headless_play] t= 12.90s step= 645 trunk_z= 123.5mm grav_b=(+0.15,+0.04,-0.99)
+[headless_play] t= 13.00s step= 650 trunk_z= 124.6mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 119.9mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 124.2mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 119.0mm grav_b=(-0.07,+0.03,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 125.2mm grav_b=(-0.04,+0.09,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 122.0mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 119.3mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 125.8mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 118.7mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 124.6mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 122.7mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 119.8mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 124.1mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 118.1mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 123.2mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 122.2mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 119.2mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 125.0mm grav_b=(-0.04,-0.06,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 119.0mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 122.1mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 126.1mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 124.4mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 121.9mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 124.9mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 117.4mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 123.4mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 122.4mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 120.6mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 124.7mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 121.2mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 122.7mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 125.8mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 119.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 124.8mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 127.3mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 120.1mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 126.5mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 130.1mm grav_b=(+0.04,+0.13,-0.99)
+[headless_play] t= 16.80s step= 840 trunk_z= 131.6mm grav_b=(+0.00,+0.15,-0.99)
+[headless_play] t= 16.90s step= 845 trunk_z= 129.7mm grav_b=(-0.01,+0.13,-0.99)
+[headless_play] t= 17.00s step= 850 trunk_z= 121.9mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 124.6mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.6mm grav_b=(-0.02,+0.11,-0.99)
+[headless_play] t= 17.30s step= 865 trunk_z= 126.6mm grav_b=(-0.04,+0.15,-0.99)
+[headless_play] t= 17.40s step= 870 trunk_z= 129.9mm grav_b=(-0.02,+0.22,-0.98)
+[headless_play] t= 17.50s step= 875 trunk_z= 129.7mm grav_b=(+0.02,+0.26,-0.97)
+[headless_play] t= 17.60s step= 880 trunk_z= 129.5mm grav_b=(+0.05,+0.43,-0.90)
+[headless_play] t= 17.70s step= 885 trunk_z= 117.4mm grav_b=(-0.01,+0.68,-0.73)
+[headless_play] RESET at t= 17.80s step= 890 (env termination, not a recovery)
+[headless_play] t= 17.80s step= 890 trunk_z= 123.4mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 114.1mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 115.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 113.2mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.1mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 112.4mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 117.4mm grav_b=(+0.08,-0.06,-0.99)
+[headless_play] t= 18.80s step= 940 trunk_z= 117.3mm grav_b=(+0.09,-0.06,-0.99)
+[headless_play] t= 18.90s step= 945 trunk_z= 111.5mm grav_b=(+0.07,+0.01,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 117.5mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 111.1mm grav_b=(+0.08,-0.05,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 120.4mm grav_b=(+0.09,-0.09,-0.99)
+[headless_play] t= 19.30s step= 965 trunk_z= 121.0mm grav_b=(+0.08,-0.09,-0.99)
+[headless_play] t= 19.40s step= 970 trunk_z= 114.8mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 118.9mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 116.4mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 117.7mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 117.6mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 110.9mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 117.9mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.0mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/ref-seed-t3.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[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=(-0.193,+0.137,+0.126)
+[headless_play] t=  0.00s step=   0 trunk_z= 123.4mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 117.9mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 118.0mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 125.8mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 120.6mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 122.6mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 118.6mm grav_b=(-0.06,-0.01,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 119.7mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 123.5mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 113.8mm grav_b=(-0.13,+0.03,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 122.5mm grav_b=(-0.13,+0.01,-0.99)
+[headless_play] t=  1.10s step=  55 trunk_z= 116.9mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 123.4mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 122.2mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 122.7mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 122.1mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 114.8mm grav_b=(-0.03,-0.07,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 125.6mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 121.9mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 122.1mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 122.7mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 114.8mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 125.9mm grav_b=(-0.04,-0.07,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 121.8mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 123.4mm grav_b=(-0.10,+0.08,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 127.8mm grav_b=(-0.06,+0.12,-0.99)
+[headless_play] t=  2.60s step= 130 trunk_z= 126.6mm grav_b=(-0.06,+0.08,-0.99)
+[headless_play] t=  2.70s step= 135 trunk_z= 120.8mm grav_b=(-0.08,-0.00,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 124.0mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 121.0mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 122.8mm grav_b=(-0.09,+0.08,-0.99)
+[headless_play] t=  3.10s step= 155 trunk_z= 127.0mm grav_b=(-0.07,+0.10,-0.99)
+[headless_play] t=  3.20s step= 160 trunk_z= 125.2mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 121.8mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 123.7mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 119.0mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 122.4mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 116.7mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 120.0mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 120.6mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 120.7mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 114.5mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 125.3mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 121.4mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 119.5mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 119.4mm grav_b=(-0.16,-0.02,-0.99)
+[headless_play] t=  4.70s step= 235 trunk_z= 117.6mm grav_b=(-0.05,-0.11,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 125.0mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 119.9mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 122.3mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 118.2mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 122.0mm grav_b=(-0.04,-0.06,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 125.1mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 119.1mm grav_b=(-0.08,+0.03,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 124.6mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 120.9mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 118.5mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 123.2mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 119.3mm grav_b=(-0.04,+0.07,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 125.5mm grav_b=(-0.03,+0.12,-0.99)
+[headless_play] t=  6.10s step= 305 trunk_z= 126.0mm grav_b=(-0.03,+0.14,-0.99)
+[headless_play] t=  6.20s step= 310 trunk_z= 123.7mm grav_b=(-0.02,+0.10,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 121.3mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 119.6mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 119.5mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 119.4mm grav_b=(-0.14,+0.01,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 118.9mm grav_b=(-0.19,+0.01,-0.98)
+[headless_play] t=  6.80s step= 340 trunk_z= 117.1mm grav_b=(-0.20,+0.05,-0.98)
+[headless_play] t=  6.90s step= 345 trunk_z= 119.3mm grav_b=(-0.10,+0.02,-0.99)
+[headless_play] t=  7.00s step= 350 trunk_z= 116.7mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 116.2mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 119.9mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 117.5mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 117.5mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 117.8mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 117.3mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 117.6mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 119.3mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 120.2mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 115.9mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 116.7mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 116.8mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 118.5mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 118.3mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 118.1mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 118.0mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 117.9mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 119.1mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 122.0mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 114.8mm grav_b=(-0.11,-0.10,-0.99)
+[headless_play] t= 10.10s step= 505 trunk_z= 119.7mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 117.0mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 117.8mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 116.9mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 116.2mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 116.3mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 116.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 116.3mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 117.6mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 116.6mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 115.9mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 115.2mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 118.0mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 115.1mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 120.6mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 117.2mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 118.6mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 115.1mm grav_b=(+0.06,-0.04,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 122.3mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 124.3mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 117.1mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 121.1mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 115.2mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 121.7mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 118.3mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 120.2mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 124.2mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 122.2mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 123.0mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 123.3mm grav_b=(-0.00,-0.06,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 121.2mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 118.4mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 119.3mm grav_b=(+0.03,-0.10,-0.99)
+[headless_play] t= 13.80s step= 690 trunk_z= 124.0mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 118.7mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 119.0mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 120.8mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 115.6mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 120.6mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 119.0mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 116.2mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 114.7mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.9mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 119.3mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 115.7mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 123.0mm grav_b=(-0.08,-0.05,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 120.8mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 115.4mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 113.8mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 118.5mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 114.9mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 119.7mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 122.7mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 122.6mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 118.2mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 120.9mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 115.7mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 122.4mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 122.6mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 122.1mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 119.7mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 122.1mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 121.5mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 119.8mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 119.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 121.5mm grav_b=(-0.07,-0.02,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 115.8mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 121.9mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 117.8mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 121.2mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 119.9mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 118.1mm grav_b=(-0.09,+0.04,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 126.1mm grav_b=(-0.12,+0.05,-0.99)
+[headless_play] t= 18.60s step= 930 trunk_z= 121.5mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 122.1mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 118.6mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 115.2mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 121.5mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 115.0mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 128.8mm grav_b=(-0.06,-0.18,-0.98)
+[headless_play] t= 19.30s step= 965 trunk_z= 131.8mm grav_b=(-0.05,-0.27,-0.96)
+[headless_play] t= 19.40s step= 970 trunk_z= 134.5mm grav_b=(+0.01,-0.23,-0.97)
+[headless_play] t= 19.50s step= 975 trunk_z= 110.3mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 140.8mm grav_b=(+0.14,+0.09,-0.99)
+[headless_play] t= 19.70s step= 985 trunk_z= 137.7mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 112.4mm grav_b=(-0.08,-0.17,-0.98)
+[headless_play] t= 19.90s step= 995 trunk_z= 126.4mm grav_b=(-0.16,-0.25,-0.96)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 125.2mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/seed-t1.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 129.2mm grav_b=(-0.00,+0.00,-1.00) root_w=(-0.459,-0.319,+0.129)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.5mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.1mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.4mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.7mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 115.7mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 115.7mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 117.4mm grav_b=(+0.08,+0.00,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 117.7mm grav_b=(+0.10,-0.01,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 117.8mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 116.2mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 116.2mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 117.0mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 118.2mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 117.8mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 117.5mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 117.7mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 117.5mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 117.9mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 117.7mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 117.5mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 117.3mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 117.2mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 117.2mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 120.7mm grav_b=(+0.12,-0.04,-0.99)
+[headless_play] t=  4.20s step= 210 trunk_z= 116.0mm grav_b=(+0.10,+0.01,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 121.9mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 119.0mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 115.9mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 117.7mm grav_b=(+0.10,+0.00,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 119.0mm grav_b=(+0.12,-0.01,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 118.0mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 121.3mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 114.9mm grav_b=(+0.02,-0.08,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 123.8mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 117.6mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 118.9mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 116.5mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 119.3mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 123.1mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 115.2mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 119.0mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 113.4mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 120.3mm grav_b=(+0.10,-0.10,-0.99)
+[headless_play] t=  6.20s step= 310 trunk_z= 122.8mm grav_b=(+0.13,-0.09,-0.99)
+[headless_play] t=  6.30s step= 315 trunk_z= 121.5mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 119.6mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 119.6mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 116.2mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 122.1mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 113.5mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 114.2mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 112.7mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 122.2mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 127.0mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 105.2mm grav_b=(+0.10,+0.04,-0.99)
+[headless_play] t=  7.40s step= 370 trunk_z= 113.4mm grav_b=(+0.10,+0.01,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 108.4mm grav_b=(+0.07,-0.05,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 114.7mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 111.9mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 117.9mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 110.9mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 121.9mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 124.4mm grav_b=(+0.05,-0.06,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 118.2mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 118.3mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 119.0mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 115.1mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 119.9mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 113.9mm grav_b=(+0.06,+0.05,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 118.1mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 117.1mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 116.6mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 121.5mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 114.9mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 117.4mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 116.2mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 115.6mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 118.6mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 111.9mm grav_b=(+0.07,+0.07,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 118.8mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 114.2mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 118.3mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 116.6mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 108.5mm grav_b=(+0.07,+0.02,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 114.9mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 111.3mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 115.6mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 118.0mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 112.0mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 116.6mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 112.2mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 113.7mm grav_b=(+0.07,+0.05,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 116.3mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 120.4mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 118.2mm grav_b=(+0.02,-0.12,-0.99)
+[headless_play] t= 11.60s step= 580 trunk_z= 129.5mm grav_b=(-0.02,-0.18,-0.98)
+[headless_play] t= 11.70s step= 585 trunk_z= 133.3mm grav_b=(+0.00,-0.22,-0.98)
+[headless_play] t= 11.80s step= 590 trunk_z= 134.3mm grav_b=(-0.03,-0.11,-0.99)
+[headless_play] t= 11.90s step= 595 trunk_z= 118.2mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 127.2mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t= 12.10s step= 605 trunk_z= 128.6mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 112.7mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 116.1mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 117.6mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 117.1mm grav_b=(-0.04,-0.08,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 122.5mm grav_b=(+0.02,-0.13,-0.99)
+[headless_play] t= 12.70s step= 635 trunk_z= 126.0mm grav_b=(-0.00,-0.07,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 119.7mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 121.6mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 122.6mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 122.7mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 118.2mm grav_b=(-0.02,-0.07,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 124.7mm grav_b=(-0.04,-0.09,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 122.2mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 116.8mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 122.3mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 117.1mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 123.1mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 123.2mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 115.2mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 122.8mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 121.3mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 117.6mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 124.3mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 121.0mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 119.2mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 121.2mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 116.1mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 123.3mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 122.4mm grav_b=(+0.05,-0.09,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 117.7mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 123.2mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 122.6mm grav_b=(-0.00,-0.06,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 122.3mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 118.7mm grav_b=(+0.08,+0.06,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 126.7mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 123.9mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 122.1mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 123.0mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 116.8mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 121.9mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 118.0mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 120.9mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 127.3mm grav_b=(+0.06,-0.11,-0.99)
+[headless_play] t= 16.60s step= 830 trunk_z= 126.8mm grav_b=(+0.04,-0.11,-0.99)
+[headless_play] t= 16.70s step= 835 trunk_z= 119.5mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 121.6mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 117.4mm grav_b=(-0.00,-0.06,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 123.4mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 118.3mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 118.8mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 114.8mm grav_b=(-0.03,-0.12,-0.99)
+[headless_play] t= 17.40s step= 870 trunk_z= 123.7mm grav_b=(+0.01,-0.10,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 122.9mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 119.5mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 122.2mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 116.3mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 126.1mm grav_b=(-0.03,-0.09,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 130.9mm grav_b=(-0.07,-0.17,-0.98)
+[headless_play] t= 18.10s step= 905 trunk_z= 131.2mm grav_b=(-0.07,-0.15,-0.99)
+[headless_play] t= 18.20s step= 910 trunk_z= 120.8mm grav_b=(-0.07,-0.08,-0.99)
+[headless_play] t= 18.30s step= 915 trunk_z= 120.1mm grav_b=(-0.05,-0.09,-0.99)
+[headless_play] t= 18.40s step= 920 trunk_z= 115.6mm grav_b=(-0.02,-0.12,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 123.4mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 120.8mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 127.5mm grav_b=(+0.10,+0.01,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 123.5mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 121.5mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 117.3mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 121.3mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 122.5mm grav_b=(+0.09,+0.03,-0.99)
+[headless_play] t= 19.30s step= 965 trunk_z= 113.7mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 122.4mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 117.8mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 121.5mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 119.2mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 120.4mm grav_b=(+0.00,-0.08,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 125.4mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.3mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 116.9mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/seed-t2.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 123.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(+0.346,-0.357,+0.124)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.1mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 118.3mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.3mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 122.8mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 117.1mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 123.7mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 118.3mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 122.2mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 120.3mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 121.7mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 122.9mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 118.0mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 122.6mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 118.2mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 124.5mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 117.0mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 123.2mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 119.8mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 121.2mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 116.3mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 123.6mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 118.5mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 123.5mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 125.0mm grav_b=(-0.02,+0.09,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 121.2mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 120.5mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 122.8mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 114.5mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 120.9mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 119.6mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 118.1mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 123.6mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 112.8mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 121.2mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 118.8mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 119.5mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 121.1mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 117.6mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 122.2mm grav_b=(+0.00,+0.03,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 116.0mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 120.3mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 119.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 119.3mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 122.9mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 118.1mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 121.7mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 118.4mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 119.7mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 121.8mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 122.3mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 118.7mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 120.1mm grav_b=(+0.03,+0.10,-0.99)
+[headless_play] t=  5.30s step= 265 trunk_z= 128.0mm grav_b=(+0.04,+0.13,-0.99)
+[headless_play] t=  5.40s step= 270 trunk_z= 131.8mm grav_b=(+0.00,+0.16,-0.99)
+[headless_play] t=  5.50s step= 275 trunk_z= 130.6mm grav_b=(-0.03,+0.23,-0.97)
+[headless_play] t=  5.60s step= 280 trunk_z= 122.3mm grav_b=(-0.00,+0.21,-0.98)
+[headless_play] t=  5.70s step= 285 trunk_z= 116.8mm grav_b=(+0.02,+0.10,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 116.4mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 117.1mm grav_b=(-0.07,-0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 117.0mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 119.2mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 117.6mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 123.2mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 121.6mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 120.5mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 123.6mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 118.7mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 121.9mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 120.5mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 122.4mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 117.4mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 127.7mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 130.3mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 119.3mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 123.8mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 118.1mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 122.9mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 121.5mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 119.9mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 130.7mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 117.3mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 121.9mm grav_b=(-0.09,+0.07,-0.99)
+[headless_play] t=  8.40s step= 420 trunk_z= 121.2mm grav_b=(-0.08,+0.04,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 120.5mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 120.9mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 119.4mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 123.1mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 112.3mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 119.2mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 116.0mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 122.6mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 118.7mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 119.5mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 121.0mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 117.7mm grav_b=(+0.00,+0.06,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 120.2mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 111.8mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 121.6mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 118.0mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 119.6mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 114.6mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 122.0mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 117.2mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 124.8mm grav_b=(+0.00,+0.12,-0.99)
+[headless_play] t= 10.70s step= 535 trunk_z= 128.3mm grav_b=(+0.01,+0.15,-0.99)
+[headless_play] t= 10.80s step= 540 trunk_z= 130.3mm grav_b=(+0.03,+0.15,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 129.4mm grav_b=(+0.04,+0.13,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 121.7mm grav_b=(+0.03,+0.09,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 123.1mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 124.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 117.6mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 123.1mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 120.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 118.7mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 122.8mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 117.4mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 122.1mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 119.0mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 116.8mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 120.2mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 122.2mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 115.1mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 123.2mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 118.8mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 122.2mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 118.9mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 115.4mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 122.6mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 116.1mm grav_b=(-0.09,+0.00,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 120.7mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 117.5mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 118.5mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 117.8mm grav_b=(-0.08,+0.00,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 118.0mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 119.1mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 120.6mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 119.5mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 118.5mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 118.4mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 118.9mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 118.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 118.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 120.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.8mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 119.6mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 119.4mm grav_b=(-0.06,+0.00,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 119.5mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 119.5mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 119.5mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 120.9mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 123.0mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 122.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 122.4mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 122.3mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 121.8mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 121.0mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 119.4mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 118.3mm grav_b=(-0.06,+0.00,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 118.2mm grav_b=(-0.08,+0.00,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 118.4mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 118.7mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 118.9mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 117.6mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 118.1mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 124.1mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 119.0mm grav_b=(-0.10,-0.08,-0.99)
+[headless_play] t= 17.10s step= 855 trunk_z= 123.8mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 115.8mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 125.1mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 122.3mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 120.2mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 123.3mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 125.1mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 126.5mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 115.9mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 122.2mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(-0.06,+0.08,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 124.5mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 122.4mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 119.3mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 125.4mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 120.7mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 122.4mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 124.9mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 118.2mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 124.7mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 121.4mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 124.0mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 123.8mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 117.3mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 124.4mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 119.4mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 123.1mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 122.5mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 120.5mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/seed-t3.log

@@ -0,0 +1,209 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.360,+0.284,+0.122)
+[headless_play] t=  0.00s step=   0 trunk_z= 118.9mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 116.6mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 118.4mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 119.3mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 122.1mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 121.1mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 114.9mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 118.8mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 118.3mm grav_b=(-0.02,-0.08,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 122.7mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 113.8mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 123.0mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 118.7mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 120.3mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 121.3mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 116.6mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 123.6mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 119.6mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 121.8mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 121.8mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 116.3mm grav_b=(-0.00,+0.06,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 123.5mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 120.9mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 122.4mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 125.4mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 120.4mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 123.2mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 124.7mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 119.2mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 123.3mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 118.6mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 124.5mm grav_b=(+0.04,+0.13,-0.99)
+[headless_play] t=  3.30s step= 165 trunk_z= 128.5mm grav_b=(+0.06,+0.19,-0.98)
+[headless_play] t=  3.40s step= 170 trunk_z= 130.9mm grav_b=(+0.09,+0.27,-0.96)
+[headless_play] t=  3.50s step= 175 trunk_z= 127.1mm grav_b=(+0.06,+0.42,-0.90)
+[headless_play] t=  3.60s step= 180 trunk_z= 103.8mm grav_b=(-0.02,+0.61,-0.79)
+[headless_play] RESET at t=  3.70s step= 185 (env termination, not a recovery)
+[headless_play] t=  3.70s step= 185 trunk_z= 125.8mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 115.2mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 114.7mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 111.5mm grav_b=(+0.09,-0.07,-0.99)
+[headless_play] t=  4.10s step= 205 trunk_z= 114.0mm grav_b=(+0.11,-0.02,-0.99)
+[headless_play] t=  4.20s step= 210 trunk_z= 110.4mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 122.4mm grav_b=(-0.05,+0.11,-0.99)
+[headless_play] t=  4.40s step= 220 trunk_z= 121.9mm grav_b=(-0.06,+0.04,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 117.2mm grav_b=(+0.00,-0.07,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 115.9mm grav_b=(+0.10,-0.03,-0.99)
+[headless_play] t=  4.70s step= 235 trunk_z= 108.5mm grav_b=(+0.14,+0.06,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 119.1mm grav_b=(+0.13,+0.08,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 122.9mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 117.0mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 120.5mm grav_b=(-0.04,+0.10,-0.99)
+[headless_play] t=  5.30s step= 265 trunk_z= 124.0mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.3mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 120.3mm grav_b=(+0.10,-0.15,-0.98)
+[headless_play] t=  5.60s step= 280 trunk_z= 119.3mm grav_b=(+0.14,-0.15,-0.98)
+[headless_play] t=  5.70s step= 285 trunk_z= 111.4mm grav_b=(+0.09,+0.04,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 126.2mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 118.1mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 122.0mm grav_b=(+0.04,-0.07,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 121.0mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 112.6mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 123.6mm grav_b=(+0.04,+0.13,-0.99)
+[headless_play] t=  6.40s step= 320 trunk_z= 122.6mm grav_b=(+0.11,+0.15,-0.98)
+[headless_play] t=  6.50s step= 325 trunk_z= 120.8mm grav_b=(+0.11,+0.02,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 128.6mm grav_b=(+0.06,-0.09,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 130.8mm grav_b=(+0.02,-0.11,-0.99)
+[headless_play] t=  6.80s step= 340 trunk_z= 118.7mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 122.7mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 122.2mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 115.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 121.9mm grav_b=(+0.05,-0.03,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 118.8mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 117.4mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 122.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 116.4mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 118.0mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 115.5mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 120.7mm grav_b=(+0.04,+0.18,-0.98)
+[headless_play] t=  8.00s step= 400 trunk_z= 125.4mm grav_b=(+0.03,+0.19,-0.98)
+[headless_play] t=  8.10s step= 405 trunk_z= 126.0mm grav_b=(+0.10,+0.17,-0.98)
+[headless_play] t=  8.20s step= 410 trunk_z= 124.4mm grav_b=(+0.09,+0.04,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 136.4mm grav_b=(-0.00,-0.10,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 132.8mm grav_b=(-0.01,-0.13,-0.99)
+[headless_play] t=  8.50s step= 425 trunk_z= 124.5mm grav_b=(-0.11,-0.06,-0.99)
+[headless_play] t=  8.60s step= 430 trunk_z= 123.5mm grav_b=(-0.03,+0.07,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 126.0mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 120.8mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 117.8mm grav_b=(+0.10,-0.04,-0.99)
+[headless_play] t=  9.00s step= 450 trunk_z= 112.1mm grav_b=(+0.09,+0.03,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 120.5mm grav_b=(+0.09,+0.08,-0.99)
+[headless_play] t=  9.20s step= 460 trunk_z= 120.5mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 119.6mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 123.2mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 115.8mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 122.4mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 120.0mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 110.9mm grav_b=(+0.11,-0.05,-0.99)
+[headless_play] t=  9.90s step= 495 trunk_z= 124.8mm grav_b=(+0.13,-0.04,-0.99)
+[headless_play] t= 10.00s step= 500 trunk_z= 100.0mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 115.6mm grav_b=(-0.10,-0.03,-0.99)
+[headless_play] t= 10.20s step= 510 trunk_z= 116.4mm grav_b=(-0.09,-0.12,-0.99)
+[headless_play] t= 10.30s step= 515 trunk_z= 121.4mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 113.9mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 124.9mm grav_b=(+0.06,+0.16,-0.99)
+[headless_play] t= 10.60s step= 530 trunk_z= 125.0mm grav_b=(+0.13,+0.22,-0.97)
+[headless_play] t= 10.70s step= 535 trunk_z= 127.3mm grav_b=(+0.13,+0.28,-0.95)
+[headless_play] t= 10.80s step= 540 trunk_z= 114.3mm grav_b=(+0.09,+0.29,-0.95)
+[headless_play] t= 10.90s step= 545 trunk_z= 132.8mm grav_b=(+0.29,+0.41,-0.87)
+[headless_play] t= 11.00s step= 550 trunk_z= 117.6mm grav_b=(+0.85,+0.14,-0.51)
+[headless_play] RESET at t= 11.04s step= 552 (env termination, not a recovery)
+[headless_play] t= 11.10s step= 555 trunk_z= 113.6mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 115.5mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 115.7mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 115.6mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 115.6mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 115.6mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 115.7mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 115.7mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 115.7mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 115.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 115.7mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 115.7mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 115.6mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 115.6mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 115.7mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 116.8mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 119.5mm grav_b=(+0.09,+0.02,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 118.4mm grav_b=(+0.03,-0.10,-0.99)
+[headless_play] t= 12.90s step= 645 trunk_z= 120.5mm grav_b=(-0.00,-0.07,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 116.0mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 116.5mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 116.2mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 117.0mm grav_b=(+0.09,+0.02,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 119.1mm grav_b=(+0.12,+0.04,-0.99)
+[headless_play] t= 13.60s step= 680 trunk_z= 115.2mm grav_b=(-0.02,+0.10,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 119.0mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 117.5mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.8mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 116.8mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 116.9mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 118.1mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 118.0mm grav_b=(-0.08,-0.00,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 118.1mm grav_b=(-0.07,+0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 115.2mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 121.2mm grav_b=(+0.03,-0.05,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 121.7mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 125.9mm grav_b=(-0.01,+0.11,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 124.4mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 120.9mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 122.8mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 117.9mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 120.2mm grav_b=(+0.11,+0.04,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 117.5mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 121.1mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 120.4mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 115.4mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 119.9mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 116.0mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 122.1mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 119.2mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 121.5mm grav_b=(-0.11,+0.08,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 122.2mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 123.9mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 120.7mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 109.9mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 112.0mm grav_b=(+0.08,+0.03,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 116.0mm grav_b=(+0.09,-0.08,-0.99)
+[headless_play] t= 17.00s step= 850 trunk_z= 124.0mm grav_b=(+0.06,-0.06,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 117.4mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 123.1mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 119.9mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 121.6mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 115.7mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 120.4mm grav_b=(-0.09,+0.04,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 119.3mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 119.4mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 120.7mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 117.5mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 119.0mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 119.0mm grav_b=(+0.08,+0.08,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 125.7mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.01,-0.11,-0.99)
+[headless_play] t= 18.70s step= 935 trunk_z= 124.3mm grav_b=(-0.00,-0.14,-0.99)
+[headless_play] t= 18.80s step= 940 trunk_z= 123.5mm grav_b=(-0.04,-0.10,-0.99)
+[headless_play] t= 18.90s step= 945 trunk_z= 117.4mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 120.4mm grav_b=(-0.09,+0.06,-0.99)
+[headless_play] t= 19.10s step= 955 trunk_z= 117.5mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(+0.07,-0.05,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 117.3mm grav_b=(+0.12,+0.07,-0.99)
+[headless_play] t= 19.40s step= 970 trunk_z= 121.2mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 116.9mm grav_b=(-0.00,-0.12,-0.99)
+[headless_play] t= 19.60s step= 980 trunk_z= 126.7mm grav_b=(-0.01,-0.13,-0.99)
+[headless_play] t= 19.70s step= 985 trunk_z= 123.0mm grav_b=(-0.01,-0.09,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 124.0mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.3mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.5mm grav_b=(+0.00,-0.08,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/seed-t4.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.4mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.093,-0.081,+0.126)
+[headless_play] t=  0.00s step=   0 trunk_z= 123.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 117.2mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 114.5mm grav_b=(-0.07,-0.08,-0.99)
+[headless_play] t=  0.30s step=  15 trunk_z= 122.5mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.0mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 121.5mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 121.8mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 117.1mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 123.2mm grav_b=(-0.09,-0.04,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 118.0mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 122.1mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 116.7mm grav_b=(-0.05,-0.10,-0.99)
+[headless_play] t=  1.20s step=  60 trunk_z= 127.4mm grav_b=(-0.06,-0.10,-0.99)
+[headless_play] t=  1.30s step=  65 trunk_z= 126.5mm grav_b=(-0.05,-0.09,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 117.4mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 125.0mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 125.2mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 122.0mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 131.8mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 118.4mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 121.3mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 120.3mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 118.4mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t=  2.30s step= 115 trunk_z= 121.4mm grav_b=(-0.14,-0.00,-0.99)
+[headless_play] t=  2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.10,+0.05,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 124.8mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 115.6mm grav_b=(-0.04,-0.07,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 126.6mm grav_b=(-0.02,-0.12,-0.99)
+[headless_play] t=  2.80s step= 140 trunk_z= 128.3mm grav_b=(-0.04,-0.09,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 122.7mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 123.0mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 124.4mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 116.1mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 128.0mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 132.4mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 112.6mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 122.9mm grav_b=(-0.06,+0.08,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 123.3mm grav_b=(-0.11,+0.02,-0.99)
+[headless_play] t=  3.80s step= 190 trunk_z= 121.4mm grav_b=(-0.07,-0.06,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 126.5mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 130.3mm grav_b=(+0.02,-0.13,-0.99)
+[headless_play] t=  4.10s step= 205 trunk_z= 122.2mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 126.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 123.5mm grav_b=(-0.08,-0.00,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 120.9mm grav_b=(-0.07,-0.06,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 122.7mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 116.0mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 124.5mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 122.6mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 116.4mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 121.7mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 115.2mm grav_b=(-0.07,+0.07,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 121.9mm grav_b=(-0.10,+0.04,-0.99)
+[headless_play] t=  5.30s step= 265 trunk_z= 118.1mm grav_b=(-0.10,-0.01,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 119.0mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 121.8mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 115.8mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 121.7mm grav_b=(-0.07,+0.03,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 118.3mm grav_b=(-0.07,+0.01,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 117.7mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 122.6mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 116.7mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 121.7mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 120.6mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 115.1mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 121.7mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 118.1mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 122.8mm grav_b=(+0.01,+0.09,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 126.7mm grav_b=(+0.00,+0.07,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 124.1mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 119.8mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 125.0mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 119.9mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 122.2mm grav_b=(-0.10,+0.10,-0.99)
+[headless_play] t=  7.40s step= 370 trunk_z= 125.6mm grav_b=(-0.12,+0.09,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 126.4mm grav_b=(-0.11,+0.05,-0.99)
+[headless_play] t=  7.60s step= 380 trunk_z= 123.5mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 127.0mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 113.0mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 120.0mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 126.4mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 123.6mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 128.6mm grav_b=(-0.06,-0.11,-0.99)
+[headless_play] t=  8.30s step= 415 trunk_z= 122.0mm grav_b=(-0.08,-0.05,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 121.6mm grav_b=(-0.06,+0.04,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 123.9mm grav_b=(-0.08,+0.04,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 120.4mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 120.3mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 122.6mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 116.4mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 120.6mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 115.7mm grav_b=(-0.13,-0.03,-0.99)
+[headless_play] t=  9.20s step= 460 trunk_z= 122.4mm grav_b=(-0.13,-0.08,-0.99)
+[headless_play] t=  9.30s step= 465 trunk_z= 123.2mm grav_b=(-0.07,-0.07,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 113.5mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 117.9mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 113.0mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 120.1mm grav_b=(-0.00,-0.06,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 121.4mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 117.5mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 119.1mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 114.3mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 120.9mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 118.1mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 119.5mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 118.2mm grav_b=(-0.10,-0.02,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 119.8mm grav_b=(-0.12,-0.11,-0.99)
+[headless_play] t= 10.70s step= 535 trunk_z= 126.5mm grav_b=(-0.10,-0.12,-0.99)
+[headless_play] t= 10.80s step= 540 trunk_z= 123.6mm grav_b=(-0.09,-0.10,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 116.8mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 117.5mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 115.0mm grav_b=(-0.09,-0.11,-0.99)
+[headless_play] t= 11.20s step= 560 trunk_z= 124.7mm grav_b=(-0.08,-0.09,-0.99)
+[headless_play] t= 11.30s step= 565 trunk_z= 122.1mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 120.8mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 121.9mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 116.3mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 122.6mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 118.7mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 120.6mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 122.3mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 116.6mm grav_b=(-0.07,-0.08,-0.99)
+[headless_play] t= 12.20s step= 610 trunk_z= 123.9mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t= 12.30s step= 615 trunk_z= 117.9mm grav_b=(-0.10,-0.02,-0.99)
+[headless_play] t= 12.40s step= 620 trunk_z= 122.7mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 123.5mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 124.0mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 120.4mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 119.4mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 122.2mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 117.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 118.1mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 117.6mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 112.4mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 117.7mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 113.6mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 118.8mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 115.8mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 120.1mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 115.8mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 115.1mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 119.4mm grav_b=(+0.04,-0.09,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 120.1mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 119.2mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 113.2mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.3mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 122.5mm grav_b=(-0.07,+0.10,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 127.8mm grav_b=(-0.08,+0.12,-0.99)
+[headless_play] t= 15.20s step= 760 trunk_z= 129.3mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] t= 15.30s step= 765 trunk_z= 131.2mm grav_b=(-0.01,+0.14,-0.99)
+[headless_play] t= 15.40s step= 770 trunk_z= 133.3mm grav_b=(-0.00,+0.23,-0.97)
+[headless_play] t= 15.50s step= 775 trunk_z= 134.0mm grav_b=(+0.01,+0.34,-0.94)
+[headless_play] t= 15.60s step= 780 trunk_z= 111.8mm grav_b=(-0.00,+0.46,-0.89)
+[headless_play] t= 15.70s step= 785 trunk_z=  88.8mm grav_b=(-0.70,+0.65,-0.30)
+[headless_play] RESET at t= 15.72s step= 786 (env termination, not a recovery)
+[headless_play] t= 15.80s step= 790 trunk_z= 114.8mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 115.1mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 115.9mm grav_b=(-0.13,+0.01,-0.99)
+[headless_play] t= 16.10s step= 805 trunk_z= 120.0mm grav_b=(-0.12,+0.06,-0.99)
+[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 123.7mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 119.5mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 116.3mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 116.6mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 112.7mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 121.9mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 120.1mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 123.2mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.2mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 125.2mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 127.5mm grav_b=(+0.02,-0.08,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 123.5mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 121.9mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 121.5mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 118.7mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 122.1mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 118.1mm grav_b=(-0.13,+0.02,-0.99)
+[headless_play] t= 18.10s step= 905 trunk_z= 122.2mm grav_b=(-0.09,+0.07,-0.99)
+[headless_play] t= 18.20s step= 910 trunk_z= 122.2mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 118.7mm grav_b=(-0.01,-0.08,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 119.5mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 114.6mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 123.9mm grav_b=(-0.05,+0.08,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 123.9mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 117.9mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 122.6mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 120.8mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 121.3mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 114.5mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 123.1mm grav_b=(-0.07,-0.07,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 120.7mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 119.3mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 122.9mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 116.4mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 119.7mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 118.2mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 117.4mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/seed-t5.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_4000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.112,+0.414,+0.120)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.4mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.4mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 116.1mm grav_b=(-0.03,-0.09,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.2mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 117.0mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 123.2mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 120.6mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 114.2mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 118.4mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 112.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.1mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 118.2mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 115.5mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 114.8mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 116.8mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 114.1mm grav_b=(+0.01,-0.11,-0.99)
+[headless_play] t=  1.70s step=  85 trunk_z= 122.6mm grav_b=(-0.04,-0.09,-0.99)
+[headless_play] t=  1.80s step=  90 trunk_z= 116.3mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 120.4mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 118.6mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 117.4mm grav_b=(-0.05,-0.10,-0.99)
+[headless_play] t=  2.20s step= 110 trunk_z= 124.8mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 119.3mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 118.5mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 120.5mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 114.2mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 118.0mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 117.5mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 114.3mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 120.0mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 115.0mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 118.0mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 114.3mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 117.3mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 111.8mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 120.8mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 124.0mm grav_b=(-0.07,-0.09,-0.99)
+[headless_play] t=  3.90s step= 195 trunk_z= 118.6mm grav_b=(-0.04,-0.08,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 117.1mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 115.1mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 112.2mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 117.8mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 111.9mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 118.4mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 118.9mm grav_b=(-0.09,-0.00,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 116.6mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 122.0mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 117.1mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 114.3mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 115.8mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 112.5mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 117.2mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 113.0mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 116.7mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 113.9mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 119.4mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 118.4mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 114.2mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 116.5mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 112.8mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 121.2mm grav_b=(-0.03,-0.11,-0.99)
+[headless_play] t=  6.40s step= 320 trunk_z= 125.5mm grav_b=(-0.05,-0.15,-0.99)
+[headless_play] t=  6.50s step= 325 trunk_z= 124.8mm grav_b=(-0.03,-0.15,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 119.9mm grav_b=(-0.00,-0.13,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 115.7mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 117.8mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 114.8mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 119.1mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 113.4mm grav_b=(-0.03,+0.07,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 121.9mm grav_b=(-0.02,+0.11,-0.99)
+[headless_play] t=  7.30s step= 365 trunk_z= 124.8mm grav_b=(-0.00,+0.13,-0.99)
+[headless_play] t=  7.40s step= 370 trunk_z= 129.7mm grav_b=(-0.01,+0.25,-0.97)
+[headless_play] t=  7.50s step= 375 trunk_z= 129.0mm grav_b=(-0.06,+0.40,-0.91)
+[headless_play] t=  7.60s step= 380 trunk_z= 115.0mm grav_b=(-0.27,+0.46,-0.85)
+[headless_play] t=  7.70s step= 385 trunk_z= 101.0mm grav_b=(-0.43,+0.61,-0.66)
+[headless_play] RESET at t=  7.76s step= 388 (env termination, not a recovery)
+[headless_play] t=  7.80s step= 390 trunk_z= 115.8mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 116.1mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 117.7mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 116.1mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 118.0mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 116.7mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 117.3mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 121.2mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 114.4mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 119.3mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 117.1mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 118.7mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 121.6mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 114.1mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 121.3mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 123.3mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 115.5mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 122.4mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 119.3mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 115.9mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 118.1mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 113.7mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 120.4mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 116.7mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 119.9mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 126.9mm grav_b=(-0.04,+0.09,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 128.6mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 122.2mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 122.6mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 118.0mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 118.9mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 123.0mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 118.4mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 120.7mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 121.5mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 113.6mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 118.2mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 117.1mm grav_b=(+0.08,-0.01,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 118.2mm grav_b=(+0.05,-0.07,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 123.3mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 113.9mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 119.1mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.02,-0.10,-0.99)
+[headless_play] t= 12.10s step= 605 trunk_z= 125.5mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 120.0mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 117.3mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 121.3mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 119.7mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 121.4mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 120.0mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 116.6mm grav_b=(-0.04,-0.08,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 122.6mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 117.9mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 117.1mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 114.4mm grav_b=(-0.01,-0.11,-0.99)
+[headless_play] t= 13.40s step= 670 trunk_z= 120.0mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 120.7mm grav_b=(+0.00,+0.07,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 120.8mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 114.8mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 122.4mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 118.6mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 121.0mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 121.2mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 121.5mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 116.3mm grav_b=(+0.06,+0.05,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 117.6mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 114.3mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 125.3mm grav_b=(-0.10,-0.02,-0.99)
+[headless_play] t= 14.80s step= 740 trunk_z= 112.9mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z=  97.6mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 109.2mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(+0.04,-0.13,-0.99)
+[headless_play] t= 15.20s step= 760 trunk_z= 125.3mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 121.3mm grav_b=(-0.06,+0.04,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 124.3mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 121.4mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 121.6mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 120.6mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 119.7mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 120.9mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 115.5mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 121.6mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 118.4mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 120.7mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 119.6mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 117.2mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 121.6mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 115.4mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 121.2mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 120.0mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 120.2mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 121.3mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 117.2mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 126.0mm grav_b=(-0.09,+0.10,-0.99)
+[headless_play] t= 17.40s step= 870 trunk_z= 129.0mm grav_b=(-0.06,+0.10,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 129.8mm grav_b=(-0.05,+0.14,-0.99)
+[headless_play] t= 17.60s step= 880 trunk_z= 130.5mm grav_b=(-0.03,+0.15,-0.99)
+[headless_play] t= 17.70s step= 885 trunk_z= 123.5mm grav_b=(+0.09,+0.05,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 122.9mm grav_b=(+0.05,+0.08,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 111.7mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 121.2mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 122.3mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 119.7mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 122.9mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 116.7mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 121.4mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 117.9mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 121.1mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 119.5mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 120.4mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 123.3mm grav_b=(+0.05,+0.05,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 120.5mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 124.7mm grav_b=(-0.08,-0.07,-0.99)
+[headless_play] t= 19.30s step= 965 trunk_z= 121.8mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 119.9mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 121.9mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 122.3mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 120.6mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 118.2mm grav_b=(-0.07,+0.04,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 121.7mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/twin-t1.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[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=(-0.258,-0.104,+0.123)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.5mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.4mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.5mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.8mm grav_b=(+0.08,-0.01,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 115.8mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 115.7mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 115.6mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 115.7mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 114.7mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 114.7mm grav_b=(+0.10,-0.01,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 115.1mm grav_b=(+0.09,-0.00,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 115.0mm grav_b=(+0.07,+0.00,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 115.0mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 115.0mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 115.0mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 115.5mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 118.4mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 106.3mm grav_b=(+0.14,-0.11,-0.98)
+[headless_play] t=  2.20s step= 110 trunk_z= 115.9mm grav_b=(+0.13,-0.07,-0.99)
+[headless_play] t=  2.30s step= 115 trunk_z= 114.5mm grav_b=(+0.13,+0.01,-0.99)
+[headless_play] t=  2.40s step= 120 trunk_z= 116.5mm grav_b=(+0.12,+0.01,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 116.0mm grav_b=(+0.10,+0.00,-0.99)
+[headless_play] t=  2.60s step= 130 trunk_z= 115.8mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 116.7mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t=  2.90s step= 145 trunk_z= 117.2mm grav_b=(+0.10,-0.01,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 116.3mm grav_b=(+0.07,+0.00,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 116.0mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 115.8mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 115.8mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 115.8mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 115.8mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 117.6mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 107.6mm grav_b=(+0.13,-0.11,-0.99)
+[headless_play] t=  3.90s step= 195 trunk_z= 115.2mm grav_b=(+0.19,-0.09,-0.98)
+[headless_play] t=  4.00s step= 200 trunk_z= 117.5mm grav_b=(+0.17,+0.00,-0.98)
+[headless_play] t=  4.10s step= 205 trunk_z= 119.9mm grav_b=(+0.16,+0.02,-0.99)
+[headless_play] t=  4.20s step= 210 trunk_z= 120.3mm grav_b=(+0.16,-0.03,-0.99)
+[headless_play] t=  4.30s step= 215 trunk_z= 119.9mm grav_b=(+0.19,+0.01,-0.98)
+[headless_play] t=  4.40s step= 220 trunk_z= 119.2mm grav_b=(+0.16,-0.02,-0.99)
+[headless_play] t=  4.50s step= 225 trunk_z= 124.1mm grav_b=(+0.16,-0.05,-0.99)
+[headless_play] t=  4.60s step= 230 trunk_z= 120.6mm grav_b=(+0.14,+0.03,-0.99)
+[headless_play] t=  4.70s step= 235 trunk_z= 128.8mm grav_b=(+0.12,+0.07,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 124.6mm grav_b=(+0.09,+0.06,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 123.2mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 117.1mm grav_b=(+0.08,+0.05,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 117.8mm grav_b=(+0.09,+0.04,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 117.3mm grav_b=(+0.07,+0.02,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 117.4mm grav_b=(+0.03,+0.00,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.0mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 115.7mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 113.9mm grav_b=(+0.08,-0.01,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 114.4mm grav_b=(+0.11,-0.00,-0.99)
+[headless_play] t=  5.80s step= 290 trunk_z= 114.5mm grav_b=(+0.08,-0.00,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 114.5mm grav_b=(+0.07,+0.00,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 114.5mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 114.5mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 115.3mm grav_b=(+0.07,+0.01,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 116.9mm grav_b=(+0.10,+0.03,-0.99)
+[headless_play] t=  6.40s step= 320 trunk_z= 116.0mm grav_b=(+0.10,+0.02,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 114.1mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 114.1mm grav_b=(+0.08,+0.09,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 118.3mm grav_b=(+0.09,+0.05,-0.99)
+[headless_play] t=  6.80s step= 340 trunk_z= 109.8mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 120.5mm grav_b=(+0.11,-0.01,-0.99)
+[headless_play] t=  7.00s step= 350 trunk_z= 116.4mm grav_b=(+0.13,+0.01,-0.99)
+[headless_play] t=  7.10s step= 355 trunk_z= 119.5mm grav_b=(+0.16,+0.05,-0.99)
+[headless_play] t=  7.20s step= 360 trunk_z= 126.6mm grav_b=(+0.14,+0.03,-0.99)
+[headless_play] t=  7.30s step= 365 trunk_z= 114.4mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 121.4mm grav_b=(+0.11,+0.01,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 114.3mm grav_b=(+0.06,+0.05,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 124.1mm grav_b=(+0.06,+0.07,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 124.9mm grav_b=(+0.04,+0.15,-0.99)
+[headless_play] t=  7.80s step= 390 trunk_z= 119.0mm grav_b=(+0.08,+0.11,-0.99)
+[headless_play] t=  7.90s step= 395 trunk_z= 119.3mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 120.5mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 114.9mm grav_b=(+0.10,+0.00,-0.99)
+[headless_play] t=  8.20s step= 410 trunk_z= 120.6mm grav_b=(+0.11,+0.05,-0.99)
+[headless_play] t=  8.30s step= 415 trunk_z= 118.8mm grav_b=(+0.09,+0.02,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 117.6mm grav_b=(+0.09,-0.03,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 120.0mm grav_b=(+0.13,-0.01,-0.99)
+[headless_play] t=  8.60s step= 430 trunk_z= 116.3mm grav_b=(+0.13,+0.00,-0.99)
+[headless_play] t=  8.70s step= 435 trunk_z= 121.2mm grav_b=(+0.09,+0.04,-0.99)
+[headless_play] t=  8.80s step= 440 trunk_z= 117.8mm grav_b=(+0.08,+0.00,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 120.1mm grav_b=(+0.07,-0.03,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 121.5mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 112.3mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 119.0mm grav_b=(+0.08,+0.05,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 116.3mm grav_b=(+0.11,+0.05,-0.99)
+[headless_play] t=  9.40s step= 470 trunk_z= 116.0mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 122.0mm grav_b=(+0.11,-0.06,-0.99)
+[headless_play] t=  9.60s step= 480 trunk_z= 118.4mm grav_b=(+0.12,-0.04,-0.99)
+[headless_play] t=  9.70s step= 485 trunk_z= 124.3mm grav_b=(+0.12,+0.00,-0.99)
+[headless_play] t=  9.80s step= 490 trunk_z= 124.8mm grav_b=(+0.10,+0.01,-0.99)
+[headless_play] t=  9.90s step= 495 trunk_z= 119.7mm grav_b=(+0.09,-0.06,-0.99)
+[headless_play] t= 10.00s step= 500 trunk_z= 119.1mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 113.5mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 122.4mm grav_b=(+0.07,+0.05,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 122.5mm grav_b=(+0.07,+0.13,-0.99)
+[headless_play] t= 10.40s step= 520 trunk_z= 119.0mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 122.4mm grav_b=(+0.07,-0.09,-0.99)
+[headless_play] t= 10.60s step= 530 trunk_z= 120.3mm grav_b=(+0.09,-0.08,-0.99)
+[headless_play] t= 10.70s step= 535 trunk_z= 113.5mm grav_b=(+0.09,-0.03,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 119.4mm grav_b=(+0.12,+0.04,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 123.2mm grav_b=(+0.13,+0.09,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 119.3mm grav_b=(+0.09,+0.00,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 121.4mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t= 11.20s step= 560 trunk_z= 114.2mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 118.0mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 115.9mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 118.5mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 120.5mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 110.9mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 119.6mm grav_b=(+0.09,+0.03,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 118.7mm grav_b=(+0.10,+0.06,-0.99)
+[headless_play] t= 12.00s step= 600 trunk_z= 115.3mm grav_b=(+0.08,-0.07,-0.99)
+[headless_play] t= 12.10s step= 605 trunk_z= 121.0mm grav_b=(+0.10,-0.07,-0.99)
+[headless_play] t= 12.20s step= 610 trunk_z= 114.9mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 119.3mm grav_b=(+0.10,+0.04,-0.99)
+[headless_play] t= 12.40s step= 620 trunk_z= 117.9mm grav_b=(+0.13,+0.01,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 116.0mm grav_b=(+0.13,-0.01,-0.99)
+[headless_play] t= 12.60s step= 630 trunk_z= 116.1mm grav_b=(+0.14,+0.05,-0.99)
+[headless_play] t= 12.70s step= 635 trunk_z= 117.1mm grav_b=(+0.08,+0.08,-0.99)
+[headless_play] t= 12.80s step= 640 trunk_z= 122.1mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 114.6mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 123.5mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 119.9mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 112.2mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 119.2mm grav_b=(+0.10,+0.05,-0.99)
+[headless_play] t= 13.40s step= 670 trunk_z= 116.5mm grav_b=(+0.11,+0.02,-0.99)
+[headless_play] t= 13.50s step= 675 trunk_z= 121.6mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t= 13.60s step= 680 trunk_z= 120.5mm grav_b=(+0.09,-0.01,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 116.0mm grav_b=(+0.07,+0.05,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 122.8mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.2mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 120.1mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 114.4mm grav_b=(+0.05,+0.06,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 120.5mm grav_b=(+0.11,+0.08,-0.99)
+[headless_play] t= 14.30s step= 715 trunk_z= 122.8mm grav_b=(+0.07,+0.07,-0.99)
+[headless_play] t= 14.40s step= 720 trunk_z= 115.5mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 121.1mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t= 14.60s step= 730 trunk_z= 111.4mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 121.6mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 115.4mm grav_b=(+0.08,-0.04,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 122.8mm grav_b=(+0.09,-0.07,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 125.6mm grav_b=(+0.09,-0.08,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 120.3mm grav_b=(+0.09,-0.00,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 123.5mm grav_b=(+0.11,+0.02,-0.99)
+[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(+0.05,-0.03,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 116.2mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 115.8mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 116.2mm grav_b=(+0.08,-0.00,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 114.7mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 115.3mm grav_b=(+0.07,-0.02,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 115.5mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 115.5mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 115.5mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 115.5mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 116.2mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 116.0mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 115.9mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 115.8mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 115.7mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 117.7mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 117.0mm grav_b=(+0.03,+0.00,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 116.7mm grav_b=(+0.07,+0.01,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 116.5mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 116.4mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 116.3mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 116.2mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 116.0mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(+0.09,-0.00,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 116.1mm grav_b=(+0.07,-0.00,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 116.0mm grav_b=(+0.07,-0.00,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 116.0mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 116.0mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 117.3mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 117.0mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 116.8mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 116.8mm grav_b=(+0.08,+0.00,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 116.7mm grav_b=(+0.07,+0.00,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 116.5mm grav_b=(+0.07,-0.00,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 117.1mm grav_b=(+0.09,+0.00,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 117.8mm grav_b=(+0.11,+0.02,-0.99)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 121.4mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.2mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/twin-t2.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[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=(+0.223,+0.215,+0.123)
+[headless_play] t=  0.00s step=   0 trunk_z= 120.7mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 117.5mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.4mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 122.5mm grav_b=(-0.05,-0.08,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 120.3mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 118.4mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 125.2mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 117.1mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 122.9mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 124.1mm grav_b=(-0.07,-0.06,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 119.9mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.3mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 125.2mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 120.8mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 122.6mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 119.4mm grav_b=(-0.09,+0.02,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 119.8mm grav_b=(-0.10,+0.09,-0.99)
+[headless_play] t=  1.70s step=  85 trunk_z= 125.2mm grav_b=(-0.09,+0.09,-0.99)
+[headless_play] t=  1.80s step=  90 trunk_z= 122.1mm grav_b=(-0.09,+0.08,-0.99)
+[headless_play] t=  1.90s step=  95 trunk_z= 118.3mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 124.4mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 124.1mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 122.0mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 127.8mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 123.5mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 118.5mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 120.9mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 114.7mm grav_b=(-0.05,+0.08,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 123.5mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 121.1mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 119.0mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 124.2mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 122.8mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 123.2mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 124.3mm grav_b=(-0.09,+0.05,-0.99)
+[headless_play] t=  3.50s step= 175 trunk_z= 116.3mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 123.6mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 124.4mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 117.9mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 127.4mm grav_b=(-0.01,+0.09,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 126.8mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 119.1mm grav_b=(-0.06,+0.00,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 125.6mm grav_b=(-0.04,-0.09,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 123.6mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 116.6mm grav_b=(-0.13,-0.01,-0.99)
+[headless_play] t=  4.50s step= 225 trunk_z= 117.8mm grav_b=(-0.14,-0.02,-0.99)
+[headless_play] t=  4.60s step= 230 trunk_z= 110.9mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 116.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 109.3mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 116.5mm grav_b=(+0.03,+0.10,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 118.6mm grav_b=(+0.05,+0.08,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 118.2mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 128.1mm grav_b=(-0.08,-0.15,-0.99)
+[headless_play] t=  5.30s step= 265 trunk_z= 128.2mm grav_b=(-0.05,-0.10,-0.99)
+[headless_play] t=  5.40s step= 270 trunk_z= 123.7mm grav_b=(+0.02,-0.14,-0.99)
+[headless_play] t=  5.50s step= 275 trunk_z= 120.3mm grav_b=(+0.04,-0.13,-0.99)
+[headless_play] t=  5.60s step= 280 trunk_z= 108.8mm grav_b=(+0.06,-0.11,-0.99)
+[headless_play] t=  5.70s step= 285 trunk_z= 119.4mm grav_b=(+0.08,-0.07,-0.99)
+[headless_play] t=  5.80s step= 290 trunk_z= 117.7mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 132.5mm grav_b=(+0.04,+0.10,-0.99)
+[headless_play] t=  6.00s step= 300 trunk_z= 130.0mm grav_b=(+0.01,+0.10,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 120.1mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 125.9mm grav_b=(-0.05,-0.08,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 121.8mm grav_b=(-0.08,-0.05,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 119.8mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 121.2mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 116.6mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 116.6mm grav_b=(+0.07,+0.05,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 120.1mm grav_b=(+0.06,+0.06,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 115.3mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 115.5mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 116.6mm grav_b=(-0.12,-0.01,-0.99)
+[headless_play] t=  7.20s step= 360 trunk_z= 112.1mm grav_b=(-0.08,-0.04,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 116.1mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 113.3mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 112.6mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 112.1mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 112.0mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 113.4mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 115.6mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 115.5mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 115.7mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 115.9mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 115.9mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 116.7mm grav_b=(+0.00,+0.03,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 116.9mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 116.8mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 116.6mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 116.5mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 116.4mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 116.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 116.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 116.2mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 116.5mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 117.4mm grav_b=(-0.08,+0.04,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 117.3mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 117.1mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 117.6mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 117.5mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 117.3mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 117.1mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 117.0mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 117.8mm grav_b=(-0.12,+0.04,-0.99)
+[headless_play] t= 11.70s step= 585 trunk_z= 116.3mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 117.2mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 116.6mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 116.6mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 118.1mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 119.4mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 119.2mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 119.5mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 117.5mm grav_b=(-0.03,+0.07,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 115.3mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 116.2mm grav_b=(-0.09,+0.02,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 117.9mm grav_b=(-0.07,+0.09,-0.99)
+[headless_play] t= 13.00s step= 650 trunk_z= 120.8mm grav_b=(-0.06,+0.04,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 116.8mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 122.4mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 118.0mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 122.2mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 124.5mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 119.0mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 122.9mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 122.1mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.3mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 126.0mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 123.7mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 118.3mm grav_b=(-0.09,-0.06,-0.99)
+[headless_play] t= 14.30s step= 715 trunk_z= 119.0mm grav_b=(-0.11,+0.02,-0.99)
+[headless_play] t= 14.40s step= 720 trunk_z= 117.8mm grav_b=(-0.08,+0.09,-0.99)
+[headless_play] t= 14.50s step= 725 trunk_z= 124.3mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 123.5mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 117.8mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 121.2mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 116.4mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 117.8mm grav_b=(-0.07,+0.07,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 120.1mm grav_b=(-0.09,+0.08,-0.99)
+[headless_play] t= 15.20s step= 760 trunk_z= 113.1mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 117.7mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 114.8mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 115.8mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 116.3mm grav_b=(+0.01,+0.10,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 113.4mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 115.8mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 115.5mm grav_b=(-0.10,+0.04,-0.99)
+[headless_play] t= 16.10s step= 805 trunk_z= 112.7mm grav_b=(-0.04,+0.11,-0.99)
+[headless_play] t= 16.20s step= 810 trunk_z= 118.0mm grav_b=(-0.03,+0.15,-0.99)
+[headless_play] t= 16.30s step= 815 trunk_z= 118.9mm grav_b=(+0.00,+0.12,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 112.4mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 119.7mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 123.4mm grav_b=(-0.08,-0.04,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 119.8mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 112.7mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 113.2mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 110.9mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 115.0mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 115.2mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 109.8mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 116.8mm grav_b=(-0.02,+0.09,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 117.0mm grav_b=(-0.01,+0.10,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 112.5mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 116.7mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 114.6mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 109.3mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 116.6mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 113.9mm grav_b=(+0.08,+0.08,-0.99)
+[headless_play] t= 18.20s step= 910 trunk_z= 116.8mm grav_b=(+0.10,-0.06,-0.99)
+[headless_play] t= 18.30s step= 915 trunk_z= 125.2mm grav_b=(+0.05,-0.06,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 120.2mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 125.1mm grav_b=(-0.05,+0.11,-0.99)
+[headless_play] t= 18.60s step= 930 trunk_z= 123.4mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 116.2mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 117.6mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 112.2mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 117.2mm grav_b=(-0.11,+0.07,-0.99)
+[headless_play] t= 19.10s step= 955 trunk_z= 119.7mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 104.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 108.5mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 105.1mm grav_b=(+0.00,+0.06,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 112.0mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 108.9mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 104.1mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 114.4mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 105.0mm grav_b=(+0.10,-0.00,-0.99)
+[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)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.9mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/twin-t3.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.467,+0.146,+0.128)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.4mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 119.5mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 117.2mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.7mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.4mm grav_b=(+0.04,-0.07,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 113.9mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 120.4mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 119.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 118.4mm grav_b=(+0.05,-0.07,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 123.0mm grav_b=(+0.07,-0.06,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 118.9mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 119.6mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 118.9mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 116.7mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 125.0mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 123.2mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 119.4mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 114.5mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 124.2mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 125.4mm grav_b=(-0.02,-0.15,-0.99)
+[headless_play] t=  2.20s step= 110 trunk_z= 122.2mm grav_b=(-0.03,-0.22,-0.98)
+[headless_play] t=  2.30s step= 115 trunk_z= 116.9mm grav_b=(-0.00,-0.20,-0.98)
+[headless_play] t=  2.40s step= 120 trunk_z= 121.2mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 129.6mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 125.1mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 123.0mm grav_b=(+0.06,-0.09,-0.99)
+[headless_play] t=  2.80s step= 140 trunk_z= 124.8mm grav_b=(+0.06,-0.11,-0.99)
+[headless_play] t=  2.90s step= 145 trunk_z= 122.3mm grav_b=(+0.06,-0.08,-0.99)
+[headless_play] t=  3.00s step= 150 trunk_z= 121.2mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 119.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 116.8mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 123.6mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 121.2mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 118.9mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 121.1mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 120.6mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 128.6mm grav_b=(+0.08,-0.04,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 130.0mm grav_b=(+0.05,-0.05,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 123.1mm grav_b=(+0.08,+0.06,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 133.9mm grav_b=(+0.09,+0.11,-0.99)
+[headless_play] t=  4.20s step= 210 trunk_z= 134.5mm grav_b=(+0.05,+0.15,-0.99)
+[headless_play] t=  4.30s step= 215 trunk_z= 117.5mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 125.1mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 118.7mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 120.0mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 118.3mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 124.9mm grav_b=(-0.10,-0.11,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 118.5mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 122.8mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 106.9mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t=  5.20s step= 260 trunk_z= 117.2mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 121.6mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 120.1mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 121.7mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 126.3mm grav_b=(+0.05,+0.05,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 129.7mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 120.1mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 126.3mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 122.0mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 121.7mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 122.9mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 118.3mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 124.8mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 119.1mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 119.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 116.3mm grav_b=(+0.05,-0.07,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 121.6mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 119.1mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 114.6mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 119.8mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 115.3mm grav_b=(+0.05,-0.11,-0.99)
+[headless_play] t=  7.40s step= 370 trunk_z= 123.7mm grav_b=(+0.05,-0.12,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 123.5mm grav_b=(+0.03,-0.14,-0.99)
+[headless_play] t=  7.60s step= 380 trunk_z= 122.6mm grav_b=(+0.00,-0.12,-0.99)
+[headless_play] t=  7.70s step= 385 trunk_z= 119.7mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 118.9mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 119.2mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 115.7mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 117.3mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 112.4mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 122.1mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 119.1mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 118.8mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 121.3mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 116.6mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 119.7mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 120.1mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 115.7mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 120.7mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 118.5mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 122.1mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 116.9mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 121.8mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 122.6mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 116.6mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 120.7mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 118.7mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 116.9mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 122.7mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 119.9mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 117.7mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 122.0mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 122.1mm grav_b=(+0.02,+0.09,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 119.1mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 124.0mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 120.7mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 120.6mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 123.2mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 119.7mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 123.6mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 122.8mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 120.3mm grav_b=(+0.05,+0.09,-0.99)
+[headless_play] t= 11.60s step= 580 trunk_z= 124.0mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 119.3mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 123.2mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 124.4mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 119.3mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 122.3mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 120.0mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 122.6mm grav_b=(+0.09,-0.10,-0.99)
+[headless_play] t= 12.40s step= 620 trunk_z= 130.0mm grav_b=(+0.07,-0.10,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 127.4mm grav_b=(+0.05,-0.07,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 122.0mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 121.8mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 117.1mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 123.4mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 121.0mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 121.6mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 126.9mm grav_b=(-0.00,+0.11,-0.99)
+[headless_play] t= 13.30s step= 665 trunk_z= 126.6mm grav_b=(+0.02,+0.10,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 119.8mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 123.7mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 121.3mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 118.7mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 123.5mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 119.5mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 121.8mm grav_b=(-0.08,-0.05,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 122.8mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 106.2mm grav_b=(+0.01,+0.09,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 117.4mm grav_b=(+0.05,+0.06,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 117.6mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 120.9mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 119.4mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 116.4mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 119.6mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 120.0mm grav_b=(+0.08,-0.14,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 130.1mm grav_b=(+0.05,-0.16,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 123.8mm grav_b=(+0.07,-0.19,-0.98)
+[headless_play] t= 15.20s step= 760 trunk_z= 116.9mm grav_b=(+0.03,-0.15,-0.99)
+[headless_play] t= 15.30s step= 765 trunk_z= 120.0mm grav_b=(+0.05,-0.14,-0.99)
+[headless_play] t= 15.40s step= 770 trunk_z= 128.8mm grav_b=(+0.03,-0.10,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 117.0mm grav_b=(-0.04,-0.14,-0.99)
+[headless_play] t= 15.60s step= 780 trunk_z= 126.0mm grav_b=(-0.05,-0.10,-0.99)
+[headless_play] t= 15.70s step= 785 trunk_z= 121.8mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 117.6mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 118.8mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(+0.04,-0.10,-0.99)
+[headless_play] t= 16.10s step= 805 trunk_z= 122.5mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 118.9mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 118.4mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 121.6mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 117.4mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 124.3mm grav_b=(-0.04,-0.08,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 126.0mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 116.2mm grav_b=(+0.03,-0.05,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 118.2mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 116.6mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 121.7mm grav_b=(+0.00,-0.07,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 118.4mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 120.2mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 120.7mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 117.7mm grav_b=(-0.00,-0.07,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 122.9mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 119.2mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 118.7mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 122.0mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 116.6mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 123.6mm grav_b=(+0.02,-0.09,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 124.1mm grav_b=(+0.03,-0.08,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 118.6mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 120.3mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.8mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 119.4mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 124.5mm grav_b=(+0.01,-0.10,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 122.4mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 115.4mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 118.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 115.5mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 123.7mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 124.3mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 117.3mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 121.6mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 118.9mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 119.4mm grav_b=(-0.01,-0.08,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 124.4mm grav_b=(+0.00,-0.10,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 123.4mm grav_b=(+0.02,-0.08,-1.00)
+[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)
+[headless_play] t= 20.10s step=1005 trunk_z= 119.2mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/twin-t4.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[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=(-0.334,-0.124,+0.121)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.9mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 118.2mm grav_b=(+0.03,+0.00,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 112.9mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 121.2mm grav_b=(+0.12,-0.05,-0.99)
+[headless_play] t=  0.40s step=  20 trunk_z= 118.1mm grav_b=(+0.12,-0.00,-0.99)
+[headless_play] t=  0.50s step=  25 trunk_z= 126.2mm grav_b=(+0.14,+0.04,-0.99)
+[headless_play] t=  0.60s step=  30 trunk_z= 127.3mm grav_b=(+0.11,+0.06,-0.99)
+[headless_play] t=  0.70s step=  35 trunk_z= 113.7mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 124.6mm grav_b=(+0.08,-0.00,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 125.9mm grav_b=(+0.08,-0.06,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 116.6mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 126.7mm grav_b=(+0.06,+0.08,-0.99)
+[headless_play] t=  1.20s step=  60 trunk_z= 122.0mm grav_b=(+0.06,+0.08,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 118.1mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 122.3mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t=  1.50s step=  75 trunk_z= 119.5mm grav_b=(+0.11,-0.01,-0.99)
+[headless_play] t=  1.60s step=  80 trunk_z= 129.8mm grav_b=(+0.18,+0.04,-0.98)
+[headless_play] t=  1.70s step=  85 trunk_z= 133.5mm grav_b=(+0.10,+0.10,-0.99)
+[headless_play] t=  1.80s step=  90 trunk_z= 108.2mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 123.9mm grav_b=(+0.03,-0.05,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 117.9mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 121.8mm grav_b=(+0.11,+0.09,-0.99)
+[headless_play] t=  2.20s step= 110 trunk_z= 126.3mm grav_b=(+0.12,+0.11,-0.99)
+[headless_play] t=  2.30s step= 115 trunk_z= 128.9mm grav_b=(+0.10,+0.15,-0.98)
+[headless_play] t=  2.40s step= 120 trunk_z= 122.7mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 127.8mm grav_b=(+0.09,-0.04,-0.99)
+[headless_play] t=  2.60s step= 130 trunk_z= 119.1mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 123.9mm grav_b=(+0.09,+0.06,-0.99)
+[headless_play] t=  2.80s step= 140 trunk_z= 125.2mm grav_b=(+0.08,+0.06,-0.99)
+[headless_play] t=  2.90s step= 145 trunk_z= 118.3mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 120.4mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t=  3.10s step= 155 trunk_z= 115.2mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 123.8mm grav_b=(+0.09,+0.11,-0.99)
+[headless_play] t=  3.30s step= 165 trunk_z= 125.6mm grav_b=(+0.11,+0.13,-0.98)
+[headless_play] t=  3.40s step= 170 trunk_z= 121.2mm grav_b=(+0.11,+0.06,-0.99)
+[headless_play] t=  3.50s step= 175 trunk_z= 124.6mm grav_b=(+0.09,-0.00,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 124.8mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 119.5mm grav_b=(+0.09,+0.03,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 126.6mm grav_b=(+0.10,+0.13,-0.99)
+[headless_play] t=  3.90s step= 195 trunk_z= 128.2mm grav_b=(+0.10,+0.16,-0.98)
+[headless_play] t=  4.00s step= 200 trunk_z= 126.5mm grav_b=(+0.03,+0.13,-0.99)
+[headless_play] t=  4.10s step= 205 trunk_z= 121.4mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 125.1mm grav_b=(+0.11,+0.04,-0.99)
+[headless_play] t=  4.30s step= 215 trunk_z= 118.8mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 120.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 113.5mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 121.6mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 116.6mm grav_b=(+0.07,+0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 127.2mm grav_b=(+0.11,+0.10,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 128.0mm grav_b=(+0.12,+0.14,-0.98)
+[headless_play] t=  5.00s step= 250 trunk_z= 123.8mm grav_b=(+0.09,+0.10,-0.99)
+[headless_play] t=  5.10s step= 255 trunk_z= 122.8mm grav_b=(+0.07,+0.04,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 122.6mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 121.4mm grav_b=(-0.02,+0.14,-0.99)
+[headless_play] t=  5.40s step= 270 trunk_z= 128.7mm grav_b=(+0.01,+0.24,-0.97)
+[headless_play] t=  5.50s step= 275 trunk_z= 131.5mm grav_b=(+0.05,+0.25,-0.97)
+[headless_play] t=  5.60s step= 280 trunk_z= 130.7mm grav_b=(+0.06,+0.36,-0.93)
+[headless_play] t=  5.70s step= 285 trunk_z= 116.6mm grav_b=(-0.11,+0.62,-0.78)
+[headless_play] t=  5.80s step= 290 trunk_z=  74.8mm grav_b=(-0.29,+0.88,-0.38)
+[headless_play] RESET at t=  5.82s step= 291 (env termination, not a recovery)
+[headless_play] t=  5.90s step= 295 trunk_z= 114.7mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 119.1mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 119.1mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 122.6mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 123.7mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 116.9mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 125.6mm grav_b=(+0.05,+0.10,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 124.7mm grav_b=(+0.05,+0.13,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 119.2mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 121.4mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 116.1mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 123.7mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 123.5mm grav_b=(+0.01,+0.10,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 122.1mm grav_b=(-0.01,+0.10,-0.99)
+[headless_play] t=  7.30s step= 365 trunk_z= 118.9mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 115.9mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 124.2mm grav_b=(+0.03,+0.09,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 123.7mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 117.6mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 122.6mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 118.8mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 122.2mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 122.8mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 118.1mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 122.6mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 118.1mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 124.0mm grav_b=(+0.06,+0.06,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 124.4mm grav_b=(+0.03,+0.10,-0.99)
+[headless_play] t=  8.70s step= 435 trunk_z= 120.9mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 121.2mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 116.5mm grav_b=(+0.10,+0.06,-0.99)
+[headless_play] t=  9.00s step= 450 trunk_z= 125.7mm grav_b=(+0.06,+0.10,-0.99)
+[headless_play] t=  9.10s step= 455 trunk_z= 124.4mm grav_b=(+0.04,+0.12,-0.99)
+[headless_play] t=  9.20s step= 460 trunk_z= 118.1mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 123.3mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 121.1mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 122.4mm grav_b=(+0.08,+0.09,-0.99)
+[headless_play] t=  9.60s step= 480 trunk_z= 124.4mm grav_b=(+0.06,+0.13,-0.99)
+[headless_play] t=  9.70s step= 485 trunk_z= 125.5mm grav_b=(-0.00,+0.13,-0.99)
+[headless_play] t=  9.80s step= 490 trunk_z= 119.6mm grav_b=(+0.06,+0.06,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 117.7mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 112.9mm grav_b=(+0.12,+0.00,-0.99)
+[headless_play] t= 10.10s step= 505 trunk_z= 118.1mm grav_b=(+0.16,+0.06,-0.99)
+[headless_play] t= 10.20s step= 510 trunk_z= 120.2mm grav_b=(+0.12,+0.06,-0.99)
+[headless_play] t= 10.30s step= 515 trunk_z= 120.9mm grav_b=(+0.11,-0.07,-0.99)
+[headless_play] t= 10.40s step= 520 trunk_z= 124.7mm grav_b=(+0.09,-0.07,-0.99)
+[headless_play] t= 10.50s step= 525 trunk_z= 119.5mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 119.0mm grav_b=(+0.06,+0.11,-0.99)
+[headless_play] t= 10.70s step= 535 trunk_z= 122.7mm grav_b=(+0.09,+0.13,-0.99)
+[headless_play] t= 10.80s step= 540 trunk_z= 122.5mm grav_b=(+0.10,+0.11,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 118.4mm grav_b=(+0.07,-0.00,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 121.8mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 114.3mm grav_b=(+0.08,+0.03,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 120.1mm grav_b=(+0.08,+0.05,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 115.6mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 119.9mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 116.3mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 119.8mm grav_b=(+0.10,+0.07,-0.99)
+[headless_play] t= 11.70s step= 585 trunk_z= 122.4mm grav_b=(+0.09,+0.09,-0.99)
+[headless_play] t= 11.80s step= 590 trunk_z= 119.4mm grav_b=(+0.06,+0.05,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 121.4mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 114.5mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 122.8mm grav_b=(+0.03,+0.10,-0.99)
+[headless_play] t= 12.20s step= 610 trunk_z= 126.6mm grav_b=(+0.05,+0.12,-0.99)
+[headless_play] t= 12.30s step= 615 trunk_z= 127.2mm grav_b=(+0.02,+0.12,-0.99)
+[headless_play] t= 12.40s step= 620 trunk_z= 121.7mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 120.9mm grav_b=(+0.08,+0.05,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 112.8mm grav_b=(+0.15,+0.05,-0.99)
+[headless_play] t= 12.70s step= 635 trunk_z= 120.8mm grav_b=(+0.13,+0.03,-0.99)
+[headless_play] t= 12.80s step= 640 trunk_z= 116.8mm grav_b=(+0.12,+0.03,-0.99)
+[headless_play] t= 12.90s step= 645 trunk_z= 121.9mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 126.6mm grav_b=(+0.14,-0.13,-0.98)
+[headless_play] t= 13.10s step= 655 trunk_z= 126.0mm grav_b=(+0.10,-0.08,-0.99)
+[headless_play] t= 13.20s step= 660 trunk_z= 114.5mm grav_b=(+0.13,-0.05,-0.99)
+[headless_play] t= 13.30s step= 665 trunk_z= 117.4mm grav_b=(+0.13,+0.03,-0.99)
+[headless_play] t= 13.40s step= 670 trunk_z= 117.4mm grav_b=(+0.13,+0.04,-0.99)
+[headless_play] t= 13.50s step= 675 trunk_z= 114.0mm grav_b=(+0.10,+0.01,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(+0.10,+0.08,-0.99)
+[headless_play] t= 13.70s step= 685 trunk_z= 109.6mm grav_b=(+0.13,+0.06,-0.99)
+[headless_play] t= 13.80s step= 690 trunk_z= 119.1mm grav_b=(+0.14,+0.06,-0.99)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.0mm grav_b=(+0.11,+0.06,-0.99)
+[headless_play] t= 14.00s step= 700 trunk_z= 118.8mm grav_b=(+0.09,-0.02,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 121.2mm grav_b=(+0.11,+0.01,-0.99)
+[headless_play] t= 14.20s step= 710 trunk_z= 111.7mm grav_b=(+0.13,-0.00,-0.99)
+[headless_play] t= 14.30s step= 715 trunk_z= 115.4mm grav_b=(+0.17,-0.01,-0.99)
+[headless_play] t= 14.40s step= 720 trunk_z= 114.1mm grav_b=(+0.13,-0.02,-0.99)
+[headless_play] t= 14.50s step= 725 trunk_z= 118.8mm grav_b=(+0.09,-0.04,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 120.4mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 110.6mm grav_b=(+0.12,+0.06,-0.99)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.5mm grav_b=(+0.12,+0.10,-0.99)
+[headless_play] t= 14.90s step= 745 trunk_z= 122.9mm grav_b=(+0.10,+0.11,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 113.6mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 122.3mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 107.0mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 106.4mm grav_b=(+0.15,+0.02,-0.99)
+[headless_play] t= 15.40s step= 770 trunk_z= 115.5mm grav_b=(+0.16,+0.04,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 113.7mm grav_b=(+0.13,-0.00,-0.99)
+[headless_play] t= 15.60s step= 780 trunk_z= 118.9mm grav_b=(+0.14,+0.01,-0.99)
+[headless_play] t= 15.70s step= 785 trunk_z= 113.6mm grav_b=(+0.10,+0.02,-0.99)
+[headless_play] t= 15.80s step= 790 trunk_z= 113.4mm grav_b=(+0.08,+0.07,-0.99)
+[headless_play] t= 15.90s step= 795 trunk_z= 119.0mm grav_b=(+0.08,+0.11,-0.99)
+[headless_play] t= 16.00s step= 800 trunk_z= 120.7mm grav_b=(+0.14,+0.13,-0.98)
+[headless_play] t= 16.10s step= 805 trunk_z= 116.6mm grav_b=(+0.17,+0.14,-0.97)
+[headless_play] t= 16.20s step= 810 trunk_z= 109.9mm grav_b=(+0.13,+0.06,-0.99)
+[headless_play] t= 16.30s step= 815 trunk_z= 112.7mm grav_b=(+0.11,+0.01,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 109.4mm grav_b=(+0.14,+0.02,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 111.3mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 119.7mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 111.1mm grav_b=(+0.11,-0.07,-0.99)
+[headless_play] t= 16.80s step= 840 trunk_z= 119.5mm grav_b=(+0.08,-0.04,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 117.3mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 124.5mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 122.1mm grav_b=(+0.09,+0.05,-0.99)
+[headless_play] t= 17.20s step= 860 trunk_z= 112.7mm grav_b=(+0.09,+0.02,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 118.8mm grav_b=(+0.10,+0.07,-0.99)
+[headless_play] t= 17.40s step= 870 trunk_z= 114.6mm grav_b=(+0.07,+0.08,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 126.9mm grav_b=(+0.06,+0.07,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 124.1mm grav_b=(+0.08,+0.07,-0.99)
+[headless_play] t= 17.70s step= 885 trunk_z= 114.0mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 122.3mm grav_b=(+0.10,-0.01,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 121.3mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 123.9mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 128.3mm grav_b=(+0.07,+0.12,-0.99)
+[headless_play] t= 18.20s step= 910 trunk_z= 125.9mm grav_b=(+0.11,+0.13,-0.99)
+[headless_play] t= 18.30s step= 915 trunk_z= 116.9mm grav_b=(+0.10,+0.02,-0.99)
+[headless_play] t= 18.40s step= 920 trunk_z= 124.4mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 122.5mm grav_b=(+0.07,-0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 126.3mm grav_b=(+0.07,+0.09,-0.99)
+[headless_play] t= 18.70s step= 935 trunk_z= 130.6mm grav_b=(+0.05,+0.13,-0.99)
+[headless_play] t= 18.80s step= 940 trunk_z= 128.8mm grav_b=(+0.07,+0.15,-0.99)
+[headless_play] t= 18.90s step= 945 trunk_z= 125.8mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 125.3mm grav_b=(+0.09,-0.01,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 116.5mm grav_b=(+0.07,-0.00,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 117.0mm grav_b=(+0.08,+0.00,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 110.6mm grav_b=(+0.05,-0.03,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 115.1mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 112.7mm grav_b=(+0.09,+0.09,-0.99)
+[headless_play] t= 19.70s step= 985 trunk_z= 117.3mm grav_b=(+0.12,+0.10,-0.99)
+[headless_play] t= 19.80s step= 990 trunk_z= 117.5mm grav_b=(+0.09,+0.12,-0.99)
+[headless_play] t= 19.90s step= 995 trunk_z= 113.9mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 116.9mm grav_b=(+0.14,-0.03,-0.99)
+[headless_play] t= 20.10s step=1005 trunk_z= 108.0mm grav_b=(+0.20,+0.04,-0.98)
+[headless_play] done

level-01b-walk-flat-gear-play/proof-takes/twin-t5.log

@@ -0,0 +1,208 @@
+[INFO]: Loading checkpoint: model_7000.pt
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.55 elevation=-10.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 122.6mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.079,+0.441,+0.123)
+[headless_play] t=  0.00s step=   0 trunk_z= 119.9mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.9mm grav_b=(+0.04,-0.00,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 114.2mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 124.3mm grav_b=(+0.02,+0.09,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 124.3mm grav_b=(+0.06,+0.07,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 118.6mm grav_b=(+0.03,+0.00,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 121.9mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 118.9mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 119.9mm grav_b=(+0.09,+0.08,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 130.0mm grav_b=(+0.13,+0.13,-0.98)
+[headless_play] t=  1.10s step=  55 trunk_z= 131.6mm grav_b=(+0.09,+0.07,-0.99)
+[headless_play] t=  1.20s step=  60 trunk_z= 122.2mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 123.8mm grav_b=(+0.00,+0.11,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 117.2mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 119.4mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 120.5mm grav_b=(+0.02,-0.08,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 121.5mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 123.6mm grav_b=(+0.06,+0.07,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 125.5mm grav_b=(+0.09,+0.07,-0.99)
+[headless_play] t=  2.10s step= 105 trunk_z= 122.7mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 122.9mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 121.7mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 117.3mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 120.3mm grav_b=(-0.00,+0.05,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 118.7mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 120.2mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 120.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 114.0mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 124.5mm grav_b=(+0.06,+0.08,-0.99)
+[headless_play] t=  3.10s step= 155 trunk_z= 125.0mm grav_b=(+0.08,+0.08,-0.99)
+[headless_play] t=  3.20s step= 160 trunk_z= 118.1mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 122.5mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 119.5mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 114.0mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 118.3mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 112.1mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 115.9mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 110.9mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 117.8mm grav_b=(+0.03,+0.06,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 111.3mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 118.5mm grav_b=(+0.05,-0.06,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 118.6mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 112.0mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 118.7mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 117.6mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 113.0mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 117.1mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 113.6mm grav_b=(+0.05,+0.06,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 117.1mm grav_b=(+0.06,+0.09,-0.99)
+[headless_play] t=  5.10s step= 255 trunk_z= 120.9mm grav_b=(+0.12,+0.10,-0.99)
+[headless_play] t=  5.20s step= 260 trunk_z= 121.3mm grav_b=(+0.12,+0.06,-0.99)
+[headless_play] t=  5.30s step= 265 trunk_z= 122.3mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t=  5.40s step= 270 trunk_z= 125.2mm grav_b=(+0.09,-0.05,-0.99)
+[headless_play] t=  5.50s step= 275 trunk_z= 117.8mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 117.6mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 118.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 113.4mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 112.2mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 117.2mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 116.9mm grav_b=(+0.05,+0.05,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 110.3mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 117.4mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 115.5mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 116.2mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 120.6mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 111.8mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 115.3mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 112.5mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 113.4mm grav_b=(+0.07,+0.07,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 117.5mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 110.0mm grav_b=(+0.11,+0.01,-0.99)
+[headless_play] t=  7.40s step= 370 trunk_z= 119.4mm grav_b=(+0.09,-0.07,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 121.6mm grav_b=(+0.06,-0.07,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 116.6mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 122.2mm grav_b=(+0.07,+0.06,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 120.7mm grav_b=(+0.08,+0.04,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 119.5mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 120.2mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 115.8mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 120.1mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 119.5mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 119.7mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 124.6mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 125.8mm grav_b=(+0.09,-0.10,-0.99)
+[headless_play] t=  8.70s step= 435 trunk_z= 119.8mm grav_b=(-0.05,-0.09,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 122.8mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 124.2mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 114.5mm grav_b=(+0.01,-0.08,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 121.8mm grav_b=(-0.01,-0.08,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 119.0mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 120.6mm grav_b=(-0.04,+0.11,-0.99)
+[headless_play] t=  9.40s step= 470 trunk_z= 128.2mm grav_b=(-0.11,+0.20,-0.98)
+[headless_play] t=  9.50s step= 475 trunk_z= 129.8mm grav_b=(-0.05,+0.16,-0.99)
+[headless_play] t=  9.60s step= 480 trunk_z= 128.3mm grav_b=(-0.03,+0.15,-0.99)
+[headless_play] t=  9.70s step= 485 trunk_z= 125.7mm grav_b=(-0.01,+0.11,-0.99)
+[headless_play] t=  9.80s step= 490 trunk_z= 119.6mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 124.6mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 124.3mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 114.7mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 119.1mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 114.4mm grav_b=(-0.01,-0.08,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 122.8mm grav_b=(-0.02,-0.06,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 119.4mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 119.7mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 128.3mm grav_b=(+0.04,+0.14,-0.99)
+[headless_play] t= 10.80s step= 540 trunk_z= 128.8mm grav_b=(+0.05,+0.18,-0.98)
+[headless_play] t= 10.90s step= 545 trunk_z= 119.1mm grav_b=(+0.02,+0.13,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 133.6mm grav_b=(+0.12,+0.04,-0.99)
+[headless_play] t= 11.10s step= 555 trunk_z= 124.6mm grav_b=(+0.08,-0.04,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 121.5mm grav_b=(+0.08,-0.07,-0.99)
+[headless_play] t= 11.30s step= 565 trunk_z= 118.9mm grav_b=(+0.07,-0.11,-0.99)
+[headless_play] t= 11.40s step= 570 trunk_z= 114.5mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 116.9mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 117.2mm grav_b=(-0.02,+0.09,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 122.8mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 117.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 120.5mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 124.5mm grav_b=(+0.02,-0.08,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 121.5mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 126.9mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 130.5mm grav_b=(+0.05,+0.10,-0.99)
+[headless_play] t= 12.40s step= 620 trunk_z= 123.3mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 120.7mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 121.2mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 116.1mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 126.4mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 120.9mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 122.5mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 124.6mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 117.2mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 126.0mm grav_b=(+0.07,+0.08,-0.99)
+[headless_play] t= 13.40s step= 670 trunk_z= 122.4mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 120.8mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 115.9mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 116.9mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 120.4mm grav_b=(+0.05,+0.05,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.7mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 125.2mm grav_b=(+0.05,-0.05,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 119.6mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 122.5mm grav_b=(+0.00,+0.03,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 122.7mm grav_b=(+0.10,-0.02,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 120.2mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 127.0mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 120.3mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 120.6mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 115.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 116.7mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 116.4mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 119.0mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 116.8mm grav_b=(+0.06,+0.06,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 122.3mm grav_b=(+0.08,+0.08,-0.99)
+[headless_play] t= 15.60s step= 780 trunk_z= 119.0mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 117.3mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 118.9mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 119.5mm grav_b=(+0.08,+0.02,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 119.6mm grav_b=(+0.11,+0.00,-0.99)
+[headless_play] t= 16.20s step= 810 trunk_z= 117.8mm grav_b=(+0.06,+0.03,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 118.5mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 116.7mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 116.2mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 116.3mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 116.6mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 116.3mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 116.2mm grav_b=(+0.04,+0.01,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.1mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 118.3mm grav_b=(+0.08,-0.03,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 117.5mm grav_b=(+0.09,-0.00,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 117.0mm grav_b=(+0.07,+0.01,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 116.8mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 116.6mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 116.5mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 116.2mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 116.5mm grav_b=(+0.09,+0.02,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 118.6mm grav_b=(+0.15,+0.03,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.3mm grav_b=(+0.13,-0.03,-0.99)
+[headless_play] t= 18.60s step= 930 trunk_z= 121.3mm grav_b=(+0.09,-0.04,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 117.1mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 116.6mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 116.5mm grav_b=(+0.03,+0.00,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 116.1mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 116.1mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 116.8mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 116.7mm grav_b=(+0.01,+0.02,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 116.8mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 116.9mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 116.9mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 116.7mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 116.7mm grav_b=(+0.02,+0.02,-1.00)
+[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)
+[headless_play] t= 20.10s step=1005 trunk_z= 117.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] done

level-01b-walk-flat-gear-play/queue-item.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+# 09j-duck-velocity-backlash.sh: duck skill tree, sim2real track, first -Backlash- twin (skill-tree.md GPU order step 2).
+# task Mjlab-Velocity-Flat-Backlash-MicroDuck = the maker's own backlash twin of level 1 (walk): +-1 deg serial gear play per servo,
+# firmware PD closing on the encoder reading THROUGH the play, obs/action dims unchanged (tasks/backlash.py, tasks/__init__.py).
+# WARM START: logs/rsl_rl/duckvelbl/2026-09-25_00-00-00_seed-velocity-it4000/model_4000.pt = level 1 duckvel model_4000
+# (velocity-2026-09-15-it4000.onnx, HF witcheer/microduck-walk-flat v1), so the body resumes at 4000 and
+# TARGET_IT = 4000 + 3000 (3k budget rule, operator 2026-09-23). operator yes 2026-09-25 (GPU thread) to queue the next level.
+# probe 2026-09-25 07:19 CEST (~/Pollen/velbl-probe.sh): checkpoint loads with no size mismatch, 4000 -> 4040 at 4096 envs,
+# 1.17 s/it, VRAM peak 7,143 MiB, export rc 0 (793,771 bytes), fell_over 0.54 in the first 40 it under backlash.
+# 3000 it at 1.17 s/it = ~59 min + export.
+# body: ~/Pollen/duck-train-body.sh (shared with every duck item; see 60-robotics/microduck/skill-tree.md).
+SKILL=velbl
+# MANIFEST duplicated from the body so the drain's grep fills idleq-active.json for the sentinel
+MANIFEST=/home/witcheer/duckvelbl-status.json
+TASK=Mjlab-Velocity-Flat-Backlash-MicroDuck
+TARGET_IT=${TARGET_IT:-7000}
+. /home/witcheer/Pollen/duck-train-body.sh

level-05b-walk-recover-gear-play/clip-v1-vs-v2-with-gear-play.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c73f19b853ffc5d7de7e0669619ddec39699e78ebacb4eab83f479eb278e28f
+size 5150368

level-05b-walk-recover-gear-play/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-recover",
+  "kind": "perpetual",
+  "entry_pose": "standing",
+  "description": "v2: the v1 walk-and-recover policy fine-tuned with +-1 deg of gear play in every servo (Mjlab-VelStand-Flat-Backlash-MicroDuck), simulation only: v1's 20,000 iterations plus 3,000 with the slop, 4096 envs, 62 min on one RTX 5090. With the slop it stayed on its feet for 20 s in 6 of 7 standing takes (v1: 6 of 7); from lying on its belly or back it did not get up (0 of 3 each). 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": "vsbl-2026-09-26-it23000.onnx"
+  }
+}

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/seed-it20000-t1.log

@@ -0,0 +1,49 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.9mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.411,-0.225,+0.127)
+[headless_play] cam-world auto: lookat=(-0.411,-0.225,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.3mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.6mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 113.7mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 120.6mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 114.2mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 123.9mm grav_b=(-0.07,-0.09,-0.99)
+[headless_play] t=  3.00s step= 150 trunk_z= 122.4mm grav_b=(+0.06,+0.02,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 121.0mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 123.5mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 124.4mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 122.7mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 117.5mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 117.3mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 120.5mm grav_b=(+0.08,-0.01,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 116.7mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 116.7mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 117.3mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 117.0mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 117.0mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 116.6mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 116.5mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 116.2mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 116.6mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 118.0mm grav_b=(+0.11,-0.00,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 113.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 118.3mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 126.3mm grav_b=(-0.03,-0.07,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 121.8mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 118.4mm grav_b=(+0.00,-0.00,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 118.2mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 118.9mm grav_b=(+0.04,-0.06,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 123.9mm grav_b=(-0.03,+0.10,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 121.4mm grav_b=(+0.04,-0.08,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 122.3mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 116.2mm grav_b=(-0.00,-0.08,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 118.8mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 117.7mm grav_b=(+0.06,-0.08,-0.99)
+[headless_play] t= 19.00s step= 950 trunk_z= 124.1mm grav_b=(-0.04,-0.08,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 113.0mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 125.3mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/seed-it20000-t2.log

@@ -0,0 +1,49 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.5mm grav_b=(+0.00,+0.00,-1.00) root_w=(+0.284,-0.076,+0.126)
+[headless_play] cam-world auto: lookat=(+0.284,-0.076,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 123.9mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.9mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 116.0mm grav_b=(-0.00,+0.09,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 118.6mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 121.0mm grav_b=(-0.03,-0.07,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 120.2mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 118.4mm grav_b=(-0.10,+0.04,-0.99)
+[headless_play] t=  4.00s step= 200 trunk_z= 115.8mm grav_b=(+0.04,-0.05,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 121.7mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 118.3mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 120.2mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 122.1mm grav_b=(-0.01,-0.10,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 118.1mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 118.4mm grav_b=(-0.02,-0.08,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 115.7mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 116.2mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 115.5mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 115.6mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 118.0mm grav_b=(+0.12,+0.01,-0.99)
+[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(-0.16,+0.02,-0.99)
+[headless_play] t= 10.50s step= 525 trunk_z= 122.1mm grav_b=(+0.08,-0.04,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 116.0mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 118.0mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 116.3mm grav_b=(-0.11,-0.02,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 116.3mm grav_b=(-0.15,-0.01,-0.99)
+[headless_play] t= 13.00s step= 650 trunk_z= 116.6mm grav_b=(-0.17,-0.01,-0.99)
+[headless_play] t= 13.50s step= 675 trunk_z= 120.0mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 116.2mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 116.8mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 112.6mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 110.2mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 121.7mm grav_b=(+0.02,-0.22,-0.98)
+[headless_play] t= 16.50s step= 825 trunk_z= 114.9mm grav_b=(+0.09,-0.03,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 117.4mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 122.1mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 114.1mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.7mm grav_b=(-0.00,+0.06,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 117.7mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 115.9mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z=  74.0mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/seed-it20000-t3.log

@@ -0,0 +1,49 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  50.5mm grav_b=(-1.00,+0.00,+0.00) root_w=(-0.489,-0.015,+0.051)
+[headless_play] cam-world auto: lookat=(-0.489,-0.015,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  48.2mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.5mm grav_b=(-1.00,+0.00,+0.04)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.00s step= 200 trunk_z=  47.8mm grav_b=(-1.00,+0.03,+0.07)
+[headless_play] t=  4.50s step= 225 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  47.3mm grav_b=(-0.98,-0.18,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  47.9mm grav_b=(-1.00,-0.04,+0.07)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z= 129.8mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 116.6mm grav_b=(-0.12,+0.01,-0.99)
+[headless_play] t=  9.00s step= 450 trunk_z= 122.3mm grav_b=(-0.09,+0.07,-0.99)
+[headless_play] t=  9.50s step= 475 trunk_z= 120.4mm grav_b=(-0.05,+0.08,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 115.0mm grav_b=(-0.09,+0.06,-0.99)
+[headless_play] t= 10.50s step= 525 trunk_z= 118.9mm grav_b=(-0.08,+0.08,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 113.6mm grav_b=(-0.13,-0.02,-0.99)
+[headless_play] t= 11.50s step= 575 trunk_z= 121.2mm grav_b=(-0.08,+0.06,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 117.9mm grav_b=(-0.12,+0.05,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 122.6mm grav_b=(-0.15,+0.11,-0.98)
+[headless_play] t= 13.00s step= 650 trunk_z= 125.8mm grav_b=(-0.08,+0.04,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 137.3mm grav_b=(-0.06,+0.15,-0.99)
+[headless_play] t= 14.00s step= 700 trunk_z= 119.3mm grav_b=(-0.11,+0.08,-0.99)
+[headless_play] t= 14.50s step= 725 trunk_z= 111.8mm grav_b=(-0.16,+0.02,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 116.0mm grav_b=(-0.11,+0.03,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 114.8mm grav_b=(-0.10,-0.07,-0.99)
+[headless_play] t= 16.00s step= 800 trunk_z= 115.3mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 118.7mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 111.7mm grav_b=(-0.12,-0.02,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 121.6mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 115.6mm grav_b=(-0.09,+0.08,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 124.4mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 123.1mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 123.6mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 124.4mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/seed-it20000-t4.log

@@ -0,0 +1,50 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  52.3mm grav_b=(-1.00,+0.00,+0.00) root_w=(+0.259,+0.458,+0.052)
+[headless_play] cam-world auto: lookat=(+0.259,+0.458,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  50.0mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  47.2mm grav_b=(-0.99,-0.15,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  48.3mm grav_b=(-0.99,-0.00,+0.10)
+[headless_play] t=  3.50s step= 175 trunk_z=  50.9mm grav_b=(-0.98,-0.00,+0.21)
+[headless_play] t=  4.00s step= 200 trunk_z=  50.8mm grav_b=(-0.98,-0.00,+0.20)
+[headless_play] t=  4.50s step= 225 trunk_z=  48.0mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  47.0mm grav_b=(-1.00,+0.05,+0.00)
+[headless_play] t=  7.50s step= 375 trunk_z=  47.6mm grav_b=(-1.00,-0.00,-0.01)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  79.2mm grav_b=(+0.81,-0.00,-0.58)
+[headless_play] t=  8.50s step= 425 trunk_z= 116.9mm grav_b=(+0.08,+0.01,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 128.1mm grav_b=(+0.12,-0.28,-0.95)
+[headless_play] t= 10.00s step= 500 trunk_z= 124.8mm grav_b=(-0.10,-0.37,-0.92)
+[headless_play] t= 10.50s step= 525 trunk_z=  60.1mm grav_b=(-0.77,-0.63,-0.09)
+[headless_play] t= 11.00s step= 550 trunk_z=  46.3mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  46.2mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  48.9mm grav_b=(-0.99,-0.15,+0.07)
+[headless_play] t= 15.00s step= 750 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.00s step= 800 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  47.1mm grav_b=(-1.00,+0.08,+0.03)
+[headless_play] t= 17.00s step= 850 trunk_z=  46.5mm grav_b=(-1.00,+0.06,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] RESET at t= 18.22s step= 911 (env termination, not a recovery)
+[headless_play] t= 18.50s step= 925 trunk_z= 126.6mm grav_b=(+0.20,+0.04,-0.98)
+[headless_play] t= 19.00s step= 950 trunk_z= 123.4mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 125.4mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 124.2mm grav_b=(-0.08,-0.12,-0.99)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/twin-it23000-t1.log

@@ -0,0 +1,49 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 124.1mm grav_b=(-0.00,+0.00,-1.00) root_w=(+0.267,-0.122,+0.124)
+[headless_play] cam-world auto: lookat=(+0.267,-0.122,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 121.5mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.5mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 117.2mm grav_b=(-0.03,+0.12,-0.99)
+[headless_play] t=  1.50s step=  75 trunk_z= 111.9mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 109.8mm grav_b=(+0.03,+0.13,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 124.0mm grav_b=(+0.05,+0.07,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 119.7mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 127.6mm grav_b=(-0.07,-0.18,-0.98)
+[headless_play] t=  4.00s step= 200 trunk_z=  51.9mm grav_b=(-0.70,-0.69,-0.16)
+[headless_play] t=  4.50s step= 225 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.00s step= 400 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  46.8mm grav_b=(-1.00,+0.08,+0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  48.4mm grav_b=(-1.00,+0.07,+0.05)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] RESET at t= 11.68s step= 584 (env termination, not a recovery)
+[headless_play] t= 12.00s step= 600 trunk_z= 117.4mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 116.8mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 115.5mm grav_b=(-0.12,+0.16,-0.98)
+[headless_play] t= 13.50s step= 675 trunk_z= 117.0mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 118.0mm grav_b=(-0.08,+0.02,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 119.0mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 116.5mm grav_b=(-0.13,+0.07,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 116.4mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 111.6mm grav_b=(-0.10,+0.15,-0.98)
+[headless_play] t= 16.50s step= 825 trunk_z= 116.6mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 117.2mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 117.7mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 117.8mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 121.3mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 122.4mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 115.4mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 120.1mm grav_b=(-0.14,+0.07,-0.99)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/twin-it23000-t2.log

@@ -0,0 +1,50 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  74.5mm grav_b=(-1.00,+0.00,+0.00) root_w=(+0.344,+0.460,+0.075)
+[headless_play] cam-world auto: lookat=(+0.344,+0.460,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  72.2mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  47.9mm grav_b=(-1.00,+0.01,+0.09)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  48.8mm grav_b=(-0.99,+0.01,+0.12)
+[headless_play] t=  4.00s step= 200 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.7mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  48.0mm grav_b=(-1.00,+0.01,+0.09)
+[headless_play] t=  7.00s step= 350 trunk_z=  47.5mm grav_b=(-0.98,+0.18,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  67.8mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.50s step= 425 trunk_z=  31.0mm grav_b=(+1.00,-0.03,-0.00)
+[headless_play] t=  9.00s step= 450 trunk_z=  29.8mm grav_b=(+1.00,+0.00,+0.01)
+[headless_play] t=  9.50s step= 475 trunk_z=  29.6mm grav_b=(+1.00,+0.01,+0.01)
+[headless_play] t= 10.00s step= 500 trunk_z=  29.6mm grav_b=(+1.00,+0.01,+0.01)
+[headless_play] t= 10.50s step= 525 trunk_z=  29.8mm grav_b=(+1.00,+0.02,+0.01)
+[headless_play] t= 11.00s step= 550 trunk_z=  29.7mm grav_b=(+1.00,+0.01,+0.01)
+[headless_play] t= 11.50s step= 575 trunk_z=  29.6mm grav_b=(+1.00,+0.01,+0.01)
+[headless_play] t= 12.00s step= 600 trunk_z=  29.5mm grav_b=(+1.00,+0.01,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  29.7mm grav_b=(+1.00,+0.02,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  30.0mm grav_b=(+1.00,+0.02,+0.00)
+[headless_play] t= 13.50s step= 675 trunk_z=  58.2mm grav_b=(+0.95,-0.02,-0.30)
+[headless_play] t= 14.00s step= 700 trunk_z=  65.1mm grav_b=(+0.94,+0.02,-0.33)
+[headless_play] t= 14.50s step= 725 trunk_z=  66.8mm grav_b=(+0.94,+0.05,-0.35)
+[headless_play] t= 15.00s step= 750 trunk_z=  69.6mm grav_b=(+0.93,+0.06,-0.37)
+[headless_play] t= 15.50s step= 775 trunk_z=  70.9mm grav_b=(+0.92,+0.06,-0.38)
+[headless_play] t= 16.00s step= 800 trunk_z=  73.2mm grav_b=(+0.92,+0.07,-0.40)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.50s step= 825 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  46.5mm grav_b=(-1.00,-0.06,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/twin-it23000-t3.log

@@ -0,0 +1,50 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  72.6mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.168,-0.089,+0.073)
+[headless_play] cam-world auto: lookat=(+0.168,-0.089,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  70.6mm grav_b=(+1.00,-0.00,-0.01)
+[headless_play] t=  0.50s step=  25 trunk_z=  56.0mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t=  1.00s step=  50 trunk_z=  59.2mm grav_b=(+0.96,-0.05,-0.26)
+[headless_play] t=  1.50s step=  75 trunk_z=  59.3mm grav_b=(+0.96,-0.06,-0.26)
+[headless_play] t=  2.00s step= 100 trunk_z=  61.5mm grav_b=(+0.96,-0.11,-0.26)
+[headless_play] t=  2.50s step= 125 trunk_z=  63.2mm grav_b=(+0.96,-0.14,-0.26)
+[headless_play] t=  3.00s step= 150 trunk_z=  65.9mm grav_b=(+0.97,-0.18,-0.17)
+[headless_play] t=  3.50s step= 175 trunk_z=  61.1mm grav_b=(+0.98,-0.10,-0.20)
+[headless_play] t=  4.00s step= 200 trunk_z=  58.4mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t=  4.50s step= 225 trunk_z=  57.2mm grav_b=(+0.98,-0.06,-0.21)
+[headless_play] t=  5.00s step= 250 trunk_z=  56.3mm grav_b=(+0.98,-0.05,-0.22)
+[headless_play] t=  5.50s step= 275 trunk_z=  55.7mm grav_b=(+0.98,-0.05,-0.22)
+[headless_play] t=  6.00s step= 300 trunk_z=  55.2mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  6.50s step= 325 trunk_z=  31.8mm grav_b=(+1.00,-0.06,-0.06)
+[headless_play] t=  7.00s step= 350 trunk_z=  29.7mm grav_b=(+1.00,+0.00,-0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  29.6mm grav_b=(+1.00,+0.01,-0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  67.0mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.50s step= 425 trunk_z=  38.0mm grav_b=(+0.99,+0.14,-0.06)
+[headless_play] t=  9.00s step= 450 trunk_z=  34.1mm grav_b=(+0.98,+0.19,-0.03)
+[headless_play] t=  9.50s step= 475 trunk_z=  35.2mm grav_b=(+0.98,+0.22,-0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  34.3mm grav_b=(+0.98,+0.21,-0.03)
+[headless_play] t= 10.50s step= 525 trunk_z=  35.1mm grav_b=(+0.97,+0.22,-0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  34.9mm grav_b=(+0.97,+0.23,-0.03)
+[headless_play] t= 11.50s step= 575 trunk_z=  39.6mm grav_b=(+0.97,+0.20,-0.12)
+[headless_play] t= 12.00s step= 600 trunk_z=  39.5mm grav_b=(+0.97,+0.20,-0.13)
+[headless_play] t= 12.50s step= 625 trunk_z=  39.1mm grav_b=(+0.97,+0.21,-0.13)
+[headless_play] t= 13.00s step= 650 trunk_z=  39.0mm grav_b=(+0.97,+0.21,-0.13)
+[headless_play] t= 13.50s step= 675 trunk_z=  38.9mm grav_b=(+0.97,+0.21,-0.13)
+[headless_play] t= 14.00s step= 700 trunk_z=  38.7mm grav_b=(+0.97,+0.21,-0.13)
+[headless_play] t= 14.50s step= 725 trunk_z=  38.6mm grav_b=(+0.97,+0.21,-0.13)
+[headless_play] t= 15.00s step= 750 trunk_z=  39.2mm grav_b=(+0.98,+0.15,-0.13)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.7mm grav_b=(+1.00,-0.02,-0.09)
+[headless_play] t= 16.00s step= 800 trunk_z=  29.6mm grav_b=(+1.00,+0.01,+0.05)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.50s step= 825 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  46.2mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-2026-09-26/twin-it23000-t4.log

@@ -0,0 +1,49 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 126.0mm grav_b=(-0.00,+0.00,-1.00) root_w=(+0.467,+0.318,+0.126)
+[headless_play] cam-world auto: lookat=(+0.467,+0.318,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 123.4mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 122.7mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 124.3mm grav_b=(-0.07,+0.15,-0.99)
+[headless_play] t=  1.50s step=  75 trunk_z= 122.4mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 123.4mm grav_b=(-0.06,-0.02,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 122.9mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 123.9mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] t=  3.50s step= 175 trunk_z= 127.6mm grav_b=(-0.11,+0.14,-0.98)
+[headless_play] t=  4.00s step= 200 trunk_z= 119.3mm grav_b=(-0.12,+0.08,-0.99)
+[headless_play] t=  4.50s step= 225 trunk_z= 123.9mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] t=  5.00s step= 250 trunk_z= 126.0mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 123.5mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 127.0mm grav_b=(+0.11,+0.31,-0.94)
+[headless_play] t=  6.50s step= 325 trunk_z= 121.3mm grav_b=(-0.17,-0.09,-0.98)
+[headless_play] t=  7.00s step= 350 trunk_z= 104.1mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 124.5mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 119.5mm grav_b=(-0.04,+0.10,-0.99)
+[headless_play] t=  8.50s step= 425 trunk_z= 122.1mm grav_b=(-0.09,+0.29,-0.95)
+[headless_play] t=  9.00s step= 450 trunk_z= 107.3mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 122.1mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 122.8mm grav_b=(-0.08,+0.09,-0.99)
+[headless_play] t= 10.50s step= 525 trunk_z= 126.4mm grav_b=(-0.11,+0.12,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 126.0mm grav_b=(-0.08,+0.14,-0.99)
+[headless_play] t= 11.50s step= 575 trunk_z= 117.5mm grav_b=(-0.05,+0.14,-0.99)
+[headless_play] t= 12.00s step= 600 trunk_z= 113.1mm grav_b=(+0.10,+0.00,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 120.2mm grav_b=(-0.11,+0.09,-0.99)
+[headless_play] t= 13.00s step= 650 trunk_z= 117.3mm grav_b=(+0.04,+0.00,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 116.2mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 116.9mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 116.9mm grav_b=(+0.12,+0.04,-0.99)
+[headless_play] t= 15.00s step= 750 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 118.0mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 119.1mm grav_b=(-0.00,+0.12,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 118.6mm grav_b=(-0.03,+0.11,-0.99)
+[headless_play] t= 17.00s step= 850 trunk_z= 124.3mm grav_b=(-0.00,+0.13,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 121.7mm grav_b=(-0.10,+0.14,-0.98)
+[headless_play] t= 18.00s step= 900 trunk_z= 128.0mm grav_b=(+0.61,+0.21,-0.76)
+[headless_play] t= 18.50s step= 925 trunk_z= 131.1mm grav_b=(-0.03,+0.14,-0.99)
+[headless_play] t= 19.00s step= 950 trunk_z= 125.6mm grav_b=(-0.10,+0.13,-0.99)
+[headless_play] t= 19.50s step= 975 trunk_z= 117.0mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z=  71.1mm grav_b=(+1.00,+0.00,-0.01)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_down-t1.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  66.4mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.146,+0.417,+0.066)
+[headless_play] cam-world auto: lookat=(+0.146,+0.417,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  64.9mm grav_b=(+1.00,-0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  47.1mm grav_b=(+0.98,+0.01,-0.19)
+[headless_play] t=  0.20s step=  10 trunk_z=  51.2mm grav_b=(+0.98,+0.02,-0.22)
+[headless_play] t=  0.30s step=  15 trunk_z=  52.2mm grav_b=(+0.97,+0.03,-0.24)
+[headless_play] t=  0.40s step=  20 trunk_z=  52.8mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  0.50s step=  25 trunk_z=  53.5mm grav_b=(+0.97,+0.05,-0.25)
+[headless_play] t=  0.60s step=  30 trunk_z=  54.0mm grav_b=(+0.96,+0.05,-0.26)
+[headless_play] t=  0.70s step=  35 trunk_z=  54.5mm grav_b=(+0.96,+0.05,-0.27)
+[headless_play] t=  0.80s step=  40 trunk_z=  54.9mm grav_b=(+0.96,+0.05,-0.27)
+[headless_play] t=  0.90s step=  45 trunk_z=  55.4mm grav_b=(+0.96,+0.05,-0.27)
+[headless_play] t=  1.00s step=  50 trunk_z=  55.7mm grav_b=(+0.96,+0.05,-0.28)
+[headless_play] t=  1.10s step=  55 trunk_z=  56.1mm grav_b=(+0.96,+0.05,-0.28)
+[headless_play] t=  1.20s step=  60 trunk_z=  56.4mm grav_b=(+0.96,+0.05,-0.28)
+[headless_play] t=  1.30s step=  65 trunk_z=  56.7mm grav_b=(+0.96,+0.05,-0.29)
+[headless_play] t=  1.40s step=  70 trunk_z=  57.2mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  1.50s step=  75 trunk_z=  57.4mm grav_b=(+0.95,+0.05,-0.29)
+[headless_play] t=  1.60s step=  80 trunk_z=  57.7mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t=  1.70s step=  85 trunk_z=  57.9mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t=  1.80s step=  90 trunk_z=  58.1mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t=  1.90s step=  95 trunk_z=  58.4mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t=  2.00s step= 100 trunk_z=  58.6mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t=  2.10s step= 105 trunk_z=  58.7mm grav_b=(+0.95,+0.05,-0.31)
+[headless_play] t=  2.20s step= 110 trunk_z=  58.8mm grav_b=(+0.95,+0.03,-0.31)
+[headless_play] t=  2.30s step= 115 trunk_z=  58.4mm grav_b=(+0.95,+0.02,-0.30)
+[headless_play] t=  2.40s step= 120 trunk_z=  58.3mm grav_b=(+0.96,+0.02,-0.29)
+[headless_play] t=  2.50s step= 125 trunk_z=  58.2mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t=  2.60s step= 130 trunk_z=  58.1mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t=  2.70s step= 135 trunk_z=  58.1mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t=  2.80s step= 140 trunk_z=  58.0mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t=  2.90s step= 145 trunk_z=  58.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t=  3.00s step= 150 trunk_z=  60.2mm grav_b=(+0.96,-0.04,-0.29)
+[headless_play] t=  3.10s step= 155 trunk_z=  59.8mm grav_b=(+0.96,-0.03,-0.28)
+[headless_play] t=  3.20s step= 160 trunk_z=  59.8mm grav_b=(+0.96,-0.03,-0.28)
+[headless_play] t=  3.30s step= 165 trunk_z=  59.7mm grav_b=(+0.96,-0.02,-0.28)
+[headless_play] t=  3.40s step= 170 trunk_z=  59.6mm grav_b=(+0.96,-0.02,-0.28)
+[headless_play] t=  3.50s step= 175 trunk_z=  59.6mm grav_b=(+0.96,-0.02,-0.27)
+[headless_play] t=  3.60s step= 180 trunk_z=  59.5mm grav_b=(+0.96,-0.02,-0.27)
+[headless_play] t=  3.70s step= 185 trunk_z=  59.5mm grav_b=(+0.96,-0.02,-0.27)
+[headless_play] t=  3.80s step= 190 trunk_z=  59.4mm grav_b=(+0.96,-0.02,-0.27)
+[headless_play] t=  3.90s step= 195 trunk_z=  61.7mm grav_b=(+0.96,+0.06,-0.27)
+[headless_play] t=  4.00s step= 200 trunk_z=  60.8mm grav_b=(+0.96,+0.04,-0.28)
+[headless_play] t=  4.10s step= 205 trunk_z=  60.3mm grav_b=(+0.96,+0.03,-0.28)
+[headless_play] t=  4.20s step= 210 trunk_z=  60.1mm grav_b=(+0.96,+0.03,-0.28)
+[headless_play] t=  4.30s step= 215 trunk_z=  60.0mm grav_b=(+0.96,+0.02,-0.28)
+[headless_play] t=  4.40s step= 220 trunk_z=  59.9mm grav_b=(+0.96,+0.02,-0.28)
+[headless_play] t=  4.50s step= 225 trunk_z=  60.8mm grav_b=(+0.96,+0.02,-0.29)
+[headless_play] t=  4.60s step= 230 trunk_z=  60.6mm grav_b=(+0.96,+0.02,-0.29)
+[headless_play] t=  4.70s step= 235 trunk_z=  61.5mm grav_b=(+0.96,-0.00,-0.28)
+[headless_play] t=  4.80s step= 240 trunk_z=  60.0mm grav_b=(+0.97,-0.05,-0.24)
+[headless_play] t=  4.90s step= 245 trunk_z=  64.2mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.00s step= 250 trunk_z=  64.2mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.10s step= 255 trunk_z=  64.2mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.20s step= 260 trunk_z=  64.2mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.30s step= 265 trunk_z=  64.1mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.40s step= 270 trunk_z=  64.3mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.50s step= 275 trunk_z=  64.0mm grav_b=(+0.96,-0.04,-0.27)
+[headless_play] t=  5.60s step= 280 trunk_z=  63.7mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.70s step= 285 trunk_z=  63.5mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.80s step= 290 trunk_z=  63.4mm grav_b=(+0.96,-0.04,-0.28)
+[headless_play] t=  5.90s step= 295 trunk_z=  64.2mm grav_b=(+0.96,-0.05,-0.28)
+[headless_play] t=  6.00s step= 300 trunk_z=  65.5mm grav_b=(+0.96,-0.07,-0.28)
+[headless_play] t=  6.10s step= 305 trunk_z=  65.7mm grav_b=(+0.96,-0.07,-0.28)
+[headless_play] t=  6.20s step= 310 trunk_z=  67.1mm grav_b=(+0.96,-0.05,-0.28)
+[headless_play] t=  6.30s step= 315 trunk_z=  66.6mm grav_b=(+0.96,-0.09,-0.28)
+[headless_play] t=  6.40s step= 320 trunk_z=  66.3mm grav_b=(+0.96,-0.08,-0.28)
+[headless_play] t=  6.50s step= 325 trunk_z=  66.4mm grav_b=(+0.95,-0.08,-0.29)
+[headless_play] t=  6.60s step= 330 trunk_z=  66.4mm grav_b=(+0.95,-0.09,-0.29)
+[headless_play] t=  6.70s step= 335 trunk_z=  66.5mm grav_b=(+0.95,-0.09,-0.29)
+[headless_play] t=  6.80s step= 340 trunk_z=  66.5mm grav_b=(+0.95,-0.09,-0.29)
+[headless_play] t=  6.90s step= 345 trunk_z=  66.5mm grav_b=(+0.95,-0.10,-0.29)
+[headless_play] t=  7.00s step= 350 trunk_z=  66.5mm grav_b=(+0.95,-0.10,-0.29)
+[headless_play] t=  7.10s step= 355 trunk_z=  67.0mm grav_b=(+0.95,-0.11,-0.28)
+[headless_play] t=  7.20s step= 360 trunk_z=  67.6mm grav_b=(+0.95,-0.13,-0.28)
+[headless_play] t=  7.30s step= 365 trunk_z=  68.2mm grav_b=(+0.95,-0.13,-0.29)
+[headless_play] t=  7.40s step= 370 trunk_z=  68.4mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  7.50s step= 375 trunk_z=  68.4mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  7.60s step= 380 trunk_z=  68.3mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  7.70s step= 385 trunk_z=  68.2mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  7.80s step= 390 trunk_z=  68.1mm grav_b=(+0.95,-0.15,-0.29)
+[headless_play] t=  7.90s step= 395 trunk_z=  68.1mm grav_b=(+0.94,-0.15,-0.29)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  64.7mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  44.7mm grav_b=(+0.98,+0.02,-0.17)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.8mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.30s step= 415 trunk_z=  46.0mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.40s step= 420 trunk_z=  46.0mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.50s step= 425 trunk_z=  46.0mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.60s step= 430 trunk_z=  46.0mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.70s step= 435 trunk_z=  46.2mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t=  8.80s step= 440 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  8.90s step= 445 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.00s step= 450 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.10s step= 455 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.20s step= 460 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.30s step= 465 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.40s step= 470 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.50s step= 475 trunk_z=  46.3mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t=  9.60s step= 480 trunk_z=  46.4mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t=  9.70s step= 485 trunk_z=  46.4mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t=  9.80s step= 490 trunk_z=  46.6mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t=  9.90s step= 495 trunk_z=  46.4mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.00s step= 500 trunk_z=  46.4mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.10s step= 505 trunk_z=  46.4mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.20s step= 510 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.30s step= 515 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.40s step= 520 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.50s step= 525 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.60s step= 530 trunk_z=  46.3mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 10.70s step= 535 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 10.80s step= 540 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 10.90s step= 545 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.00s step= 550 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.10s step= 555 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.20s step= 560 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.30s step= 565 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.40s step= 570 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.50s step= 575 trunk_z=  46.5mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 11.60s step= 580 trunk_z=  47.0mm grav_b=(+0.99,+0.03,-0.14)
+[headless_play] t= 11.70s step= 585 trunk_z=  47.0mm grav_b=(+0.99,+0.02,-0.14)
+[headless_play] t= 11.80s step= 590 trunk_z=  47.1mm grav_b=(+0.99,+0.02,-0.14)
+[headless_play] t= 11.90s step= 595 trunk_z=  47.9mm grav_b=(+0.99,+0.02,-0.15)
+[headless_play] t= 12.00s step= 600 trunk_z=  48.7mm grav_b=(+0.99,+0.02,-0.16)
+[headless_play] t= 12.10s step= 605 trunk_z=  49.3mm grav_b=(+0.99,+0.02,-0.17)
+[headless_play] t= 12.20s step= 610 trunk_z=  49.6mm grav_b=(+0.98,+0.02,-0.17)
+[headless_play] t= 12.30s step= 615 trunk_z=  49.7mm grav_b=(+0.98,+0.02,-0.19)
+[headless_play] t= 12.40s step= 620 trunk_z=  49.8mm grav_b=(+0.98,+0.02,-0.19)
+[headless_play] t= 12.50s step= 625 trunk_z=  49.5mm grav_b=(+0.98,+0.02,-0.19)
+[headless_play] t= 12.60s step= 630 trunk_z=  50.4mm grav_b=(+0.98,+0.05,-0.20)
+[headless_play] t= 12.70s step= 635 trunk_z=  50.4mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 12.80s step= 640 trunk_z=  50.4mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 12.90s step= 645 trunk_z=  50.5mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.00s step= 650 trunk_z=  50.5mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.10s step= 655 trunk_z=  50.5mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.20s step= 660 trunk_z=  50.7mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.30s step= 665 trunk_z=  50.7mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.40s step= 670 trunk_z=  50.8mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.50s step= 675 trunk_z=  50.8mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.60s step= 680 trunk_z=  50.8mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 13.70s step= 685 trunk_z=  51.5mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t= 13.80s step= 690 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 13.90s step= 695 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.00s step= 700 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.10s step= 705 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.20s step= 710 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.30s step= 715 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.40s step= 720 trunk_z=  51.7mm grav_b=(+0.98,+0.00,-0.21)
+[headless_play] t= 14.50s step= 725 trunk_z=  51.7mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.60s step= 730 trunk_z=  51.7mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.70s step= 735 trunk_z=  51.7mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.80s step= 740 trunk_z=  51.7mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 14.90s step= 745 trunk_z=  51.7mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 15.00s step= 750 trunk_z=  51.6mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 15.10s step= 755 trunk_z=  50.7mm grav_b=(+0.98,+0.00,-0.19)
+[headless_play] t= 15.20s step= 760 trunk_z=  49.7mm grav_b=(+0.99,-0.00,-0.16)
+[headless_play] t= 15.30s step= 765 trunk_z=  48.9mm grav_b=(+0.99,+0.00,-0.15)
+[headless_play] t= 15.40s step= 770 trunk_z=  48.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 15.50s step= 775 trunk_z=  47.7mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 15.60s step= 780 trunk_z=  47.3mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] t= 15.70s step= 785 trunk_z=  46.9mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] t= 15.80s step= 790 trunk_z=  46.7mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] t= 15.90s step= 795 trunk_z=  46.5mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] t= 16.00s step= 800 trunk_z=  46.5mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  48.8mm grav_b=(+0.98,+0.02,-0.22)
+[headless_play] t= 16.20s step= 810 trunk_z=  54.3mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.30s step= 815 trunk_z=  55.4mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.40s step= 820 trunk_z=  55.5mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.50s step= 825 trunk_z=  55.6mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.60s step= 830 trunk_z=  55.7mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.70s step= 835 trunk_z=  56.4mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 16.80s step= 840 trunk_z=  56.4mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 16.90s step= 845 trunk_z=  56.4mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.00s step= 850 trunk_z=  56.5mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.10s step= 855 trunk_z=  56.5mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.20s step= 860 trunk_z=  56.6mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.30s step= 865 trunk_z=  56.6mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.40s step= 870 trunk_z=  56.7mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 17.50s step= 875 trunk_z=  58.0mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 17.60s step= 880 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 17.70s step= 885 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 17.80s step= 890 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 17.90s step= 895 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.00s step= 900 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.10s step= 905 trunk_z=  58.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.20s step= 910 trunk_z=  58.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.30s step= 915 trunk_z=  58.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.40s step= 920 trunk_z=  58.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.50s step= 925 trunk_z=  59.7mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 18.60s step= 930 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.70s step= 935 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.80s step= 940 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 18.90s step= 945 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.00s step= 950 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.10s step= 955 trunk_z=  59.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.20s step= 960 trunk_z=  59.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.30s step= 965 trunk_z=  59.4mm grav_b=(+0.98,-0.06,-0.20)
+[headless_play] t= 19.40s step= 970 trunk_z=  59.4mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.50s step= 975 trunk_z=  59.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.60s step= 980 trunk_z=  59.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.70s step= 985 trunk_z=  59.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.80s step= 990 trunk_z=  59.5mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 19.90s step= 995 trunk_z=  60.1mm grav_b=(+0.98,-0.04,-0.20)
+[headless_play] t= 20.00s step=1000 trunk_z=  59.7mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t= 20.10s step=1005 trunk_z=  59.7mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_down-t2.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  64.5mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.400,-0.250,+0.064)
+[headless_play] cam-world auto: lookat=(+0.400,-0.250,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  63.0mm grav_b=(+1.00,+0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  47.4mm grav_b=(+0.99,+0.07,-0.13)
+[headless_play] t=  0.20s step=  10 trunk_z=  48.0mm grav_b=(+0.99,+0.10,-0.11)
+[headless_play] t=  0.30s step=  15 trunk_z=  47.4mm grav_b=(+0.98,+0.13,-0.12)
+[headless_play] t=  0.40s step=  20 trunk_z=  46.8mm grav_b=(+0.98,+0.15,-0.12)
+[headless_play] t=  0.50s step=  25 trunk_z=  46.6mm grav_b=(+0.98,+0.16,-0.13)
+[headless_play] t=  0.60s step=  30 trunk_z=  46.5mm grav_b=(+0.98,+0.16,-0.13)
+[headless_play] t=  0.70s step=  35 trunk_z=  46.4mm grav_b=(+0.98,+0.16,-0.13)
+[headless_play] t=  0.80s step=  40 trunk_z=  46.3mm grav_b=(+0.98,+0.16,-0.13)
+[headless_play] t=  0.90s step=  45 trunk_z=  46.3mm grav_b=(+0.98,+0.16,-0.13)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.7mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.10s step=  55 trunk_z=  46.5mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  1.20s step=  60 trunk_z=  46.5mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.30s step=  65 trunk_z=  46.4mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.40s step=  70 trunk_z=  46.2mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.50s step=  75 trunk_z=  46.2mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.60s step=  80 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.70s step=  85 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.80s step=  90 trunk_z=  46.0mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  1.90s step=  95 trunk_z=  46.2mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.00s step= 100 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.10s step= 105 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.20s step= 110 trunk_z=  46.0mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.30s step= 115 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.40s step= 120 trunk_z=  46.1mm grav_b=(+0.98,+0.17,-0.13)
+[headless_play] t=  2.50s step= 125 trunk_z=  47.2mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  2.60s step= 130 trunk_z=  47.8mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  2.70s step= 135 trunk_z=  47.7mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  2.80s step= 140 trunk_z=  47.7mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  2.90s step= 145 trunk_z=  47.7mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  3.00s step= 150 trunk_z=  47.7mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  3.10s step= 155 trunk_z=  47.7mm grav_b=(+0.98,+0.17,-0.12)
+[headless_play] t=  3.20s step= 160 trunk_z=  43.0mm grav_b=(+0.98,+0.20,-0.07)
+[headless_play] t=  3.30s step= 165 trunk_z=  39.6mm grav_b=(+0.97,+0.23,-0.03)
+[headless_play] t=  3.40s step= 170 trunk_z=  35.9mm grav_b=(+0.97,+0.26,-0.00)
+[headless_play] t=  3.50s step= 175 trunk_z=  35.3mm grav_b=(+0.97,+0.24,+0.01)
+[headless_play] t=  3.60s step= 180 trunk_z=  35.2mm grav_b=(+0.97,+0.23,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  34.8mm grav_b=(+0.98,+0.21,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  33.5mm grav_b=(+0.99,+0.12,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  32.4mm grav_b=(+1.00,+0.06,+0.01)
+[headless_play] t=  4.00s step= 200 trunk_z=  32.1mm grav_b=(+1.00,+0.04,+0.00)
+[headless_play] t=  4.10s step= 205 trunk_z=  32.2mm grav_b=(+1.00,+0.04,+0.00)
+[headless_play] t=  4.20s step= 210 trunk_z=  32.3mm grav_b=(+1.00,+0.03,-0.00)
+[headless_play] t=  4.30s step= 215 trunk_z=  32.4mm grav_b=(+1.00,+0.03,-0.00)
+[headless_play] t=  4.40s step= 220 trunk_z=  32.5mm grav_b=(+1.00,+0.03,-0.00)
+[headless_play] t=  4.50s step= 225 trunk_z=  32.6mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  4.60s step= 230 trunk_z=  32.7mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  4.70s step= 235 trunk_z=  32.8mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  4.80s step= 240 trunk_z=  32.8mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  4.90s step= 245 trunk_z=  32.9mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  5.00s step= 250 trunk_z=  32.9mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  5.10s step= 255 trunk_z=  33.9mm grav_b=(+1.00,+0.01,-0.01)
+[headless_play] t=  5.20s step= 260 trunk_z=  33.9mm grav_b=(+1.00,+0.01,-0.01)
+[headless_play] t=  5.30s step= 265 trunk_z=  33.8mm grav_b=(+1.00,+0.01,-0.01)
+[headless_play] t=  5.40s step= 270 trunk_z=  33.8mm grav_b=(+1.00,+0.00,-0.01)
+[headless_play] t=  5.50s step= 275 trunk_z=  33.7mm grav_b=(+1.00,-0.00,-0.01)
+[headless_play] t=  5.60s step= 280 trunk_z=  33.6mm grav_b=(+1.00,-0.01,-0.01)
+[headless_play] t=  5.70s step= 285 trunk_z=  33.4mm grav_b=(+1.00,-0.01,-0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  33.2mm grav_b=(+1.00,-0.02,-0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  33.0mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  32.8mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  32.9mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  32.2mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  31.9mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.40s step= 320 trunk_z=  31.7mm grav_b=(+1.00,-0.03,-0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  31.5mm grav_b=(+1.00,-0.04,-0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  29.8mm grav_b=(+1.00,-0.03,+0.00)
+[headless_play] t=  6.70s step= 335 trunk_z=  29.4mm grav_b=(+1.00,-0.02,+0.01)
+[headless_play] t=  6.80s step= 340 trunk_z=  29.3mm grav_b=(+1.00,-0.03,+0.01)
+[headless_play] t=  6.90s step= 345 trunk_z=  29.4mm grav_b=(+1.00,-0.03,+0.01)
+[headless_play] t=  7.00s step= 350 trunk_z=  29.3mm grav_b=(+1.00,-0.03,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  29.3mm grav_b=(+1.00,-0.03,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  29.2mm grav_b=(+1.00,-0.03,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  29.2mm grav_b=(+1.00,-0.03,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  29.2mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] t=  7.50s step= 375 trunk_z=  29.1mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] t=  7.60s step= 380 trunk_z=  29.1mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] t=  7.70s step= 385 trunk_z=  29.2mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] t=  7.80s step= 390 trunk_z=  29.1mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] t=  7.90s step= 395 trunk_z=  29.1mm grav_b=(+1.00,-0.03,+0.03)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  51.0mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  45.5mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t=  8.20s step= 410 trunk_z=  44.3mm grav_b=(+0.99,+0.02,-0.12)
+[headless_play] t=  8.30s step= 415 trunk_z=  47.5mm grav_b=(+0.99,+0.06,-0.13)
+[headless_play] t=  8.40s step= 420 trunk_z=  47.8mm grav_b=(+0.99,+0.06,-0.14)
+[headless_play] t=  8.50s step= 425 trunk_z=  48.1mm grav_b=(+0.99,+0.05,-0.14)
+[headless_play] t=  8.60s step= 430 trunk_z=  48.5mm grav_b=(+0.99,+0.06,-0.14)
+[headless_play] t=  8.70s step= 435 trunk_z=  49.0mm grav_b=(+0.99,+0.07,-0.14)
+[headless_play] t=  8.80s step= 440 trunk_z=  49.4mm grav_b=(+0.99,+0.07,-0.14)
+[headless_play] t=  8.90s step= 445 trunk_z=  49.7mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.00s step= 450 trunk_z=  50.0mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.10s step= 455 trunk_z=  51.3mm grav_b=(+0.99,+0.09,-0.14)
+[headless_play] t=  9.20s step= 460 trunk_z=  51.7mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.30s step= 465 trunk_z=  52.1mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.40s step= 470 trunk_z=  52.3mm grav_b=(+0.99,+0.08,-0.15)
+[headless_play] t=  9.50s step= 475 trunk_z=  52.5mm grav_b=(+0.99,+0.08,-0.15)
+[headless_play] t=  9.60s step= 480 trunk_z=  52.7mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.70s step= 485 trunk_z=  52.9mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.80s step= 490 trunk_z=  53.1mm grav_b=(+0.99,+0.07,-0.15)
+[headless_play] t=  9.90s step= 495 trunk_z=  54.8mm grav_b=(+0.98,+0.07,-0.16)
+[headless_play] t= 10.00s step= 500 trunk_z=  54.7mm grav_b=(+0.98,+0.07,-0.17)
+[headless_play] t= 10.10s step= 505 trunk_z=  54.8mm grav_b=(+0.98,+0.07,-0.17)
+[headless_play] t= 10.20s step= 510 trunk_z=  54.9mm grav_b=(+0.98,+0.07,-0.17)
+[headless_play] t= 10.30s step= 515 trunk_z=  55.0mm grav_b=(+0.98,+0.07,-0.17)
+[headless_play] t= 10.40s step= 520 trunk_z=  55.1mm grav_b=(+0.98,+0.07,-0.17)
+[headless_play] t= 10.50s step= 525 trunk_z=  55.2mm grav_b=(+0.98,+0.06,-0.17)
+[headless_play] t= 10.60s step= 530 trunk_z=  56.2mm grav_b=(+0.98,+0.03,-0.17)
+[headless_play] t= 10.70s step= 535 trunk_z=  56.5mm grav_b=(+0.98,+0.02,-0.18)
+[headless_play] t= 10.80s step= 540 trunk_z=  56.6mm grav_b=(+0.98,+0.03,-0.18)
+[headless_play] t= 10.90s step= 545 trunk_z=  56.7mm grav_b=(+0.98,+0.04,-0.17)
+[headless_play] t= 11.00s step= 550 trunk_z=  56.7mm grav_b=(+0.98,+0.04,-0.17)
+[headless_play] t= 11.10s step= 555 trunk_z=  56.8mm grav_b=(+0.98,+0.04,-0.18)
+[headless_play] t= 11.20s step= 560 trunk_z=  56.8mm grav_b=(+0.98,+0.04,-0.18)
+[headless_play] t= 11.30s step= 565 trunk_z=  56.9mm grav_b=(+0.98,+0.04,-0.18)
+[headless_play] t= 11.40s step= 570 trunk_z=  57.2mm grav_b=(+0.98,-0.01,-0.18)
+[headless_play] t= 11.50s step= 575 trunk_z=  57.2mm grav_b=(+0.98,-0.03,-0.18)
+[headless_play] t= 11.60s step= 580 trunk_z=  56.9mm grav_b=(+0.98,-0.05,-0.18)
+[headless_play] t= 11.70s step= 585 trunk_z=  57.0mm grav_b=(+0.98,-0.05,-0.18)
+[headless_play] t= 11.80s step= 590 trunk_z=  64.7mm grav_b=(+0.96,-0.12,-0.24)
+[headless_play] t= 11.90s step= 595 trunk_z=  68.8mm grav_b=(+0.94,-0.18,-0.27)
+[headless_play] t= 12.00s step= 600 trunk_z=  71.8mm grav_b=(+0.91,-0.25,-0.32)
+[headless_play] t= 12.10s step= 605 trunk_z=  70.9mm grav_b=(+0.89,-0.34,-0.31)
+[headless_play] t= 12.20s step= 610 trunk_z=  71.8mm grav_b=(+0.87,-0.37,-0.33)
+[headless_play] t= 12.30s step= 615 trunk_z=  71.0mm grav_b=(+0.82,-0.47,-0.32)
+[headless_play] t= 12.40s step= 620 trunk_z=  68.5mm grav_b=(+0.79,-0.53,-0.31)
+[headless_play] t= 12.50s step= 625 trunk_z=  66.5mm grav_b=(+0.76,-0.56,-0.32)
+[headless_play] t= 12.60s step= 630 trunk_z=  65.4mm grav_b=(+0.74,-0.60,-0.31)
+[headless_play] t= 12.70s step= 635 trunk_z=  64.9mm grav_b=(+0.71,-0.64,-0.30)
+[headless_play] t= 12.80s step= 640 trunk_z=  64.5mm grav_b=(+0.68,-0.68,-0.29)
+[headless_play] t= 12.90s step= 645 trunk_z=  63.6mm grav_b=(+0.64,-0.72,-0.28)
+[headless_play] t= 13.00s step= 650 trunk_z=  63.3mm grav_b=(+0.56,-0.79,-0.24)
+[headless_play] t= 13.10s step= 655 trunk_z=  62.8mm grav_b=(+0.55,-0.80,-0.24)
+[headless_play] t= 13.20s step= 660 trunk_z=  62.4mm grav_b=(+0.56,-0.79,-0.24)
+[headless_play] t= 13.30s step= 665 trunk_z=  61.9mm grav_b=(+0.56,-0.80,-0.23)
+[headless_play] t= 13.40s step= 670 trunk_z=  61.6mm grav_b=(+0.56,-0.80,-0.23)
+[headless_play] t= 13.50s step= 675 trunk_z=  61.4mm grav_b=(+0.56,-0.80,-0.22)
+[headless_play] t= 13.60s step= 680 trunk_z=  62.8mm grav_b=(+0.57,-0.79,-0.21)
+[headless_play] t= 13.70s step= 685 trunk_z=  62.7mm grav_b=(+0.57,-0.80,-0.21)
+[headless_play] t= 13.80s step= 690 trunk_z=  62.8mm grav_b=(+0.55,-0.81,-0.20)
+[headless_play] t= 13.90s step= 695 trunk_z=  62.6mm grav_b=(+0.53,-0.82,-0.20)
+[headless_play] t= 14.00s step= 700 trunk_z=  62.5mm grav_b=(+0.53,-0.83,-0.19)
+[headless_play] t= 14.10s step= 705 trunk_z=  62.5mm grav_b=(+0.52,-0.83,-0.19)
+[headless_play] t= 14.20s step= 710 trunk_z=  62.5mm grav_b=(+0.52,-0.83,-0.19)
+[headless_play] t= 14.30s step= 715 trunk_z=  62.5mm grav_b=(+0.52,-0.83,-0.19)
+[headless_play] t= 14.40s step= 720 trunk_z=  62.5mm grav_b=(+0.52,-0.83,-0.19)
+[headless_play] t= 14.50s step= 725 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 14.60s step= 730 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 14.70s step= 735 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 14.80s step= 740 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 14.90s step= 745 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.00s step= 750 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.10s step= 755 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.20s step= 760 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.30s step= 765 trunk_z=  62.2mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.40s step= 770 trunk_z=  62.2mm grav_b=(+0.51,-0.84,-0.19)
+[headless_play] t= 15.50s step= 775 trunk_z=  62.4mm grav_b=(+0.50,-0.84,-0.18)
+[headless_play] t= 15.60s step= 780 trunk_z=  62.4mm grav_b=(+0.51,-0.84,-0.18)
+[headless_play] t= 15.70s step= 785 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.18)
+[headless_play] t= 15.80s step= 790 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.18)
+[headless_play] t= 15.90s step= 795 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.18)
+[headless_play] t= 16.00s step= 800 trunk_z=  62.3mm grav_b=(+0.51,-0.84,-0.18)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  59.6mm grav_b=(+0.99,+0.04,-0.14)
+[headless_play] t= 16.20s step= 810 trunk_z=  62.0mm grav_b=(+0.97,+0.07,-0.22)
+[headless_play] t= 16.30s step= 815 trunk_z=  70.0mm grav_b=(+0.96,+0.09,-0.26)
+[headless_play] t= 16.40s step= 820 trunk_z=  71.4mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 16.50s step= 825 trunk_z=  71.8mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 16.60s step= 830 trunk_z=  72.1mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 16.70s step= 835 trunk_z=  72.2mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 16.80s step= 840 trunk_z=  72.7mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 16.90s step= 845 trunk_z=  72.7mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.00s step= 850 trunk_z=  72.7mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.10s step= 855 trunk_z=  72.8mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.20s step= 860 trunk_z=  72.8mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.30s step= 865 trunk_z=  72.8mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.40s step= 870 trunk_z=  72.8mm grav_b=(+0.96,+0.08,-0.26)
+[headless_play] t= 17.50s step= 875 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.26)
+[headless_play] t= 17.60s step= 880 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.26)
+[headless_play] t= 17.70s step= 885 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 17.80s step= 890 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 17.90s step= 895 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.00s step= 900 trunk_z=  73.1mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.10s step= 905 trunk_z=  73.2mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.20s step= 910 trunk_z=  73.2mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.30s step= 915 trunk_z=  73.4mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.40s step= 920 trunk_z=  73.3mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.50s step= 925 trunk_z=  73.2mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.60s step= 930 trunk_z=  73.2mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.70s step= 935 trunk_z=  73.3mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.80s step= 940 trunk_z=  73.3mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 18.90s step= 945 trunk_z=  73.3mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 19.00s step= 950 trunk_z=  73.4mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 19.10s step= 955 trunk_z=  73.4mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t= 19.20s step= 960 trunk_z=  74.5mm grav_b=(+0.96,+0.10,-0.25)
+[headless_play] t= 19.30s step= 965 trunk_z=  74.9mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.40s step= 970 trunk_z=  74.9mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.50s step= 975 trunk_z=  74.8mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.60s step= 980 trunk_z=  74.8mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.70s step= 985 trunk_z=  74.7mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.80s step= 990 trunk_z=  74.7mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 19.90s step= 995 trunk_z=  74.7mm grav_b=(+0.97,+0.09,-0.25)
+[headless_play] t= 20.00s step=1000 trunk_z=  74.8mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t= 20.10s step=1005 trunk_z=  74.9mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_down-t3.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  73.8mm grav_b=(+1.00,+0.00,+0.00) root_w=(-0.243,-0.246,+0.074)
+[headless_play] cam-world auto: lookat=(-0.243,-0.246,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  71.8mm grav_b=(+1.00,-0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  50.2mm grav_b=(+0.98,+0.00,-0.20)
+[headless_play] t=  0.20s step=  10 trunk_z=  55.4mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t=  0.30s step=  15 trunk_z=  57.4mm grav_b=(+0.97,+0.01,-0.25)
+[headless_play] t=  0.40s step=  20 trunk_z=  58.1mm grav_b=(+0.97,+0.01,-0.26)
+[headless_play] t=  0.50s step=  25 trunk_z=  58.6mm grav_b=(+0.96,+0.01,-0.27)
+[headless_play] t=  0.60s step=  30 trunk_z=  59.0mm grav_b=(+0.96,+0.01,-0.27)
+[headless_play] t=  0.70s step=  35 trunk_z=  61.3mm grav_b=(+0.96,-0.01,-0.28)
+[headless_play] t=  0.80s step=  40 trunk_z=  61.9mm grav_b=(+0.96,-0.02,-0.29)
+[headless_play] t=  0.90s step=  45 trunk_z=  62.1mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t=  1.00s step=  50 trunk_z=  62.4mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t=  1.10s step=  55 trunk_z=  62.6mm grav_b=(+0.95,-0.01,-0.30)
+[headless_play] t=  1.20s step=  60 trunk_z=  62.8mm grav_b=(+0.95,-0.01,-0.30)
+[headless_play] t=  1.30s step=  65 trunk_z=  62.9mm grav_b=(+0.95,-0.00,-0.30)
+[headless_play] t=  1.40s step=  70 trunk_z=  63.1mm grav_b=(+0.95,-0.00,-0.30)
+[headless_play] t=  1.50s step=  75 trunk_z=  66.4mm grav_b=(+0.95,-0.09,-0.30)
+[headless_play] t=  1.60s step=  80 trunk_z=  67.5mm grav_b=(+0.95,-0.12,-0.29)
+[headless_play] t=  1.70s step=  85 trunk_z=  67.7mm grav_b=(+0.95,-0.09,-0.29)
+[headless_play] t=  1.80s step=  90 trunk_z=  68.0mm grav_b=(+0.95,-0.07,-0.29)
+[headless_play] t=  1.90s step=  95 trunk_z=  68.1mm grav_b=(+0.95,-0.07,-0.29)
+[headless_play] t=  2.00s step= 100 trunk_z=  68.2mm grav_b=(+0.95,-0.07,-0.29)
+[headless_play] t=  2.10s step= 105 trunk_z=  70.1mm grav_b=(+0.94,-0.15,-0.29)
+[headless_play] t=  2.20s step= 110 trunk_z=  70.1mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  2.30s step= 115 trunk_z=  70.2mm grav_b=(+0.95,-0.13,-0.29)
+[headless_play] t=  2.40s step= 120 trunk_z=  70.1mm grav_b=(+0.95,-0.12,-0.29)
+[headless_play] t=  2.50s step= 125 trunk_z=  69.8mm grav_b=(+0.95,-0.11,-0.30)
+[headless_play] t=  2.60s step= 130 trunk_z=  69.8mm grav_b=(+0.95,-0.11,-0.30)
+[headless_play] t=  2.70s step= 135 trunk_z=  69.8mm grav_b=(+0.95,-0.10,-0.30)
+[headless_play] t=  2.80s step= 140 trunk_z=  69.9mm grav_b=(+0.95,-0.10,-0.30)
+[headless_play] t=  2.90s step= 145 trunk_z=  69.9mm grav_b=(+0.95,-0.10,-0.30)
+[headless_play] t=  3.00s step= 150 trunk_z=  71.3mm grav_b=(+0.96,-0.02,-0.29)
+[headless_play] t=  3.10s step= 155 trunk_z=  71.4mm grav_b=(+0.96,-0.03,-0.29)
+[headless_play] t=  3.20s step= 160 trunk_z=  71.4mm grav_b=(+0.96,-0.03,-0.29)
+[headless_play] t=  3.30s step= 165 trunk_z=  71.5mm grav_b=(+0.96,-0.03,-0.29)
+[headless_play] t=  3.40s step= 170 trunk_z=  71.5mm grav_b=(+0.96,-0.03,-0.29)
+[headless_play] t=  3.50s step= 175 trunk_z=  72.1mm grav_b=(+0.95,-0.06,-0.30)
+[headless_play] t=  3.60s step= 180 trunk_z=  72.1mm grav_b=(+0.95,-0.07,-0.30)
+[headless_play] t=  3.70s step= 185 trunk_z=  71.8mm grav_b=(+0.95,-0.06,-0.30)
+[headless_play] t=  3.80s step= 190 trunk_z=  71.7mm grav_b=(+0.95,-0.06,-0.30)
+[headless_play] t=  3.90s step= 195 trunk_z=  71.7mm grav_b=(+0.95,-0.06,-0.30)
+[headless_play] t=  4.00s step= 200 trunk_z=  71.8mm grav_b=(+0.95,-0.06,-0.30)
+[headless_play] t=  4.10s step= 205 trunk_z=  74.0mm grav_b=(+0.95,-0.05,-0.30)
+[headless_play] t=  4.20s step= 210 trunk_z=  74.8mm grav_b=(+0.95,-0.05,-0.32)
+[headless_play] t=  4.30s step= 215 trunk_z=  80.5mm grav_b=(+0.93,-0.01,-0.36)
+[headless_play] t=  4.40s step= 220 trunk_z=  80.0mm grav_b=(+0.93,-0.01,-0.37)
+[headless_play] t=  4.50s step= 225 trunk_z=  78.9mm grav_b=(+0.93,-0.01,-0.37)
+[headless_play] t=  4.60s step= 230 trunk_z=  77.5mm grav_b=(+0.93,-0.00,-0.38)
+[headless_play] t=  4.70s step= 235 trunk_z=  76.9mm grav_b=(+0.93,+0.00,-0.38)
+[headless_play] t=  4.80s step= 240 trunk_z=  76.1mm grav_b=(+0.93,+0.01,-0.38)
+[headless_play] t=  4.90s step= 245 trunk_z=  71.7mm grav_b=(+0.93,+0.06,-0.36)
+[headless_play] t=  5.00s step= 250 trunk_z=  71.1mm grav_b=(+0.93,+0.03,-0.36)
+[headless_play] t=  5.10s step= 255 trunk_z=  70.6mm grav_b=(+0.94,+0.02,-0.35)
+[headless_play] t=  5.20s step= 260 trunk_z=  70.0mm grav_b=(+0.94,+0.02,-0.34)
+[headless_play] t=  5.30s step= 265 trunk_z=  69.7mm grav_b=(+0.94,+0.02,-0.34)
+[headless_play] t=  5.40s step= 270 trunk_z=  69.4mm grav_b=(+0.94,+0.03,-0.33)
+[headless_play] t=  5.50s step= 275 trunk_z=  69.0mm grav_b=(+0.94,+0.03,-0.33)
+[headless_play] t=  5.60s step= 280 trunk_z=  68.7mm grav_b=(+0.95,+0.03,-0.33)
+[headless_play] t=  5.70s step= 285 trunk_z=  68.2mm grav_b=(+0.95,+0.03,-0.32)
+[headless_play] t=  5.80s step= 290 trunk_z=  68.9mm grav_b=(+0.95,+0.01,-0.32)
+[headless_play] t=  5.90s step= 295 trunk_z=  67.8mm grav_b=(+0.95,+0.02,-0.32)
+[headless_play] t=  6.00s step= 300 trunk_z=  67.3mm grav_b=(+0.95,+0.02,-0.31)
+[headless_play] t=  6.10s step= 305 trunk_z=  66.9mm grav_b=(+0.95,+0.03,-0.31)
+[headless_play] t=  6.20s step= 310 trunk_z=  66.1mm grav_b=(+0.95,+0.03,-0.30)
+[headless_play] t=  6.30s step= 315 trunk_z=  65.7mm grav_b=(+0.95,+0.03,-0.30)
+[headless_play] t=  6.40s step= 320 trunk_z=  65.4mm grav_b=(+0.95,+0.03,-0.30)
+[headless_play] t=  6.50s step= 325 trunk_z=  65.1mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t=  6.60s step= 330 trunk_z=  64.7mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t=  6.70s step= 335 trunk_z=  64.5mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t=  6.80s step= 340 trunk_z=  64.2mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  6.90s step= 345 trunk_z=  64.0mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  7.00s step= 350 trunk_z=  63.8mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  7.10s step= 355 trunk_z=  63.6mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  7.20s step= 360 trunk_z=  63.5mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  7.30s step= 365 trunk_z=  65.1mm grav_b=(+0.96,+0.08,-0.28)
+[headless_play] t=  7.40s step= 370 trunk_z=  64.7mm grav_b=(+0.96,+0.09,-0.28)
+[headless_play] t=  7.50s step= 375 trunk_z=  63.8mm grav_b=(+0.96,+0.08,-0.28)
+[headless_play] t=  7.60s step= 380 trunk_z=  54.4mm grav_b=(+0.98,+0.08,-0.19)
+[headless_play] t=  7.70s step= 385 trunk_z=  40.4mm grav_b=(+0.99,+0.11,-0.08)
+[headless_play] t=  7.80s step= 390 trunk_z=  37.7mm grav_b=(+0.99,+0.12,-0.06)
+[headless_play] t=  7.90s step= 395 trunk_z=  37.5mm grav_b=(+0.99,+0.10,-0.07)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  71.0mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  43.8mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t=  8.20s step= 410 trunk_z=  43.0mm grav_b=(+0.99,-0.01,-0.17)
+[headless_play] t=  8.30s step= 415 trunk_z=  44.1mm grav_b=(+0.98,-0.00,-0.18)
+[headless_play] t=  8.40s step= 420 trunk_z=  44.8mm grav_b=(+0.98,-0.00,-0.19)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.3mm grav_b=(+0.98,-0.00,-0.20)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.8mm grav_b=(+0.98,-0.00,-0.20)
+[headless_play] t=  8.70s step= 435 trunk_z=  47.6mm grav_b=(+0.98,-0.02,-0.21)
+[headless_play] t=  8.80s step= 440 trunk_z=  49.9mm grav_b=(+0.97,-0.05,-0.22)
+[headless_play] t=  8.90s step= 445 trunk_z=  49.9mm grav_b=(+0.97,-0.04,-0.22)
+[headless_play] t=  9.00s step= 450 trunk_z=  50.1mm grav_b=(+0.97,-0.04,-0.23)
+[headless_play] t=  9.10s step= 455 trunk_z=  50.4mm grav_b=(+0.97,-0.04,-0.23)
+[headless_play] t=  9.20s step= 460 trunk_z=  50.6mm grav_b=(+0.97,-0.04,-0.23)
+[headless_play] t=  9.30s step= 465 trunk_z=  50.8mm grav_b=(+0.97,-0.04,-0.23)
+[headless_play] t=  9.40s step= 470 trunk_z=  51.0mm grav_b=(+0.97,-0.04,-0.23)
+[headless_play] t=  9.50s step= 475 trunk_z=  51.2mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t=  9.60s step= 480 trunk_z=  51.3mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t=  9.70s step= 485 trunk_z=  52.0mm grav_b=(+0.97,-0.06,-0.24)
+[headless_play] t=  9.80s step= 490 trunk_z=  51.9mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t=  9.90s step= 495 trunk_z=  51.9mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.00s step= 500 trunk_z=  52.1mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.10s step= 505 trunk_z=  52.2mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.20s step= 510 trunk_z=  52.3mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.30s step= 515 trunk_z=  52.4mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.40s step= 520 trunk_z=  52.5mm grav_b=(+0.97,-0.05,-0.25)
+[headless_play] t= 10.50s step= 525 trunk_z=  53.1mm grav_b=(+0.96,-0.08,-0.25)
+[headless_play] t= 10.60s step= 530 trunk_z=  53.0mm grav_b=(+0.96,-0.07,-0.25)
+[headless_play] t= 10.70s step= 535 trunk_z=  53.1mm grav_b=(+0.96,-0.07,-0.26)
+[headless_play] t= 10.80s step= 540 trunk_z=  53.2mm grav_b=(+0.96,-0.07,-0.26)
+[headless_play] t= 10.90s step= 545 trunk_z=  53.3mm grav_b=(+0.96,-0.07,-0.26)
+[headless_play] t= 11.00s step= 550 trunk_z=  53.3mm grav_b=(+0.96,-0.07,-0.26)
+[headless_play] t= 11.10s step= 555 trunk_z=  53.4mm grav_b=(+0.96,-0.07,-0.26)
+[headless_play] t= 11.20s step= 560 trunk_z=  58.1mm grav_b=(+0.96,-0.04,-0.29)
+[headless_play] t= 11.30s step= 565 trunk_z=  63.7mm grav_b=(+0.95,-0.01,-0.32)
+[headless_play] t= 11.40s step= 570 trunk_z=  65.2mm grav_b=(+0.94,-0.01,-0.34)
+[headless_play] t= 11.50s step= 575 trunk_z=  64.8mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 11.60s step= 580 trunk_z=  64.4mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 11.70s step= 585 trunk_z=  64.0mm grav_b=(+0.95,-0.01,-0.32)
+[headless_play] t= 11.80s step= 590 trunk_z=  63.6mm grav_b=(+0.95,-0.01,-0.33)
+[headless_play] t= 11.90s step= 595 trunk_z=  63.3mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 12.00s step= 600 trunk_z=  63.0mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 12.10s step= 605 trunk_z=  62.7mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 12.20s step= 610 trunk_z=  62.5mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 12.30s step= 615 trunk_z=  63.0mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 12.40s step= 620 trunk_z=  62.7mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 12.50s step= 625 trunk_z=  62.4mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 12.60s step= 630 trunk_z=  62.0mm grav_b=(+0.95,-0.02,-0.33)
+[headless_play] t= 12.70s step= 635 trunk_z=  61.8mm grav_b=(+0.94,-0.02,-0.33)
+[headless_play] t= 12.80s step= 640 trunk_z=  61.7mm grav_b=(+0.94,-0.02,-0.33)
+[headless_play] t= 12.90s step= 645 trunk_z=  61.6mm grav_b=(+0.94,-0.02,-0.33)
+[headless_play] t= 13.00s step= 650 trunk_z=  61.5mm grav_b=(+0.94,-0.02,-0.33)
+[headless_play] t= 13.10s step= 655 trunk_z=  61.7mm grav_b=(+0.95,-0.03,-0.32)
+[headless_play] t= 13.20s step= 660 trunk_z=  61.5mm grav_b=(+0.95,-0.03,-0.33)
+[headless_play] t= 13.30s step= 665 trunk_z=  61.5mm grav_b=(+0.95,-0.03,-0.33)
+[headless_play] t= 13.40s step= 670 trunk_z=  61.4mm grav_b=(+0.94,-0.03,-0.33)
+[headless_play] t= 13.50s step= 675 trunk_z=  61.3mm grav_b=(+0.94,-0.03,-0.33)
+[headless_play] t= 13.60s step= 680 trunk_z=  61.3mm grav_b=(+0.94,-0.03,-0.33)
+[headless_play] t= 13.70s step= 685 trunk_z=  61.1mm grav_b=(+0.94,-0.03,-0.33)
+[headless_play] t= 13.80s step= 690 trunk_z=  61.1mm grav_b=(+0.94,-0.04,-0.33)
+[headless_play] t= 13.90s step= 695 trunk_z=  61.0mm grav_b=(+0.94,-0.04,-0.33)
+[headless_play] t= 14.00s step= 700 trunk_z=  61.0mm grav_b=(+0.94,-0.04,-0.33)
+[headless_play] t= 14.10s step= 705 trunk_z=  61.2mm grav_b=(+0.94,-0.04,-0.33)
+[headless_play] t= 14.20s step= 710 trunk_z=  61.1mm grav_b=(+0.94,-0.05,-0.32)
+[headless_play] t= 14.30s step= 715 trunk_z=  61.0mm grav_b=(+0.94,-0.05,-0.32)
+[headless_play] t= 14.40s step= 720 trunk_z=  60.9mm grav_b=(+0.94,-0.05,-0.32)
+[headless_play] t= 14.50s step= 725 trunk_z=  60.9mm grav_b=(+0.95,-0.05,-0.32)
+[headless_play] t= 14.60s step= 730 trunk_z=  60.8mm grav_b=(+0.95,-0.05,-0.32)
+[headless_play] t= 14.70s step= 735 trunk_z=  60.7mm grav_b=(+0.95,-0.05,-0.32)
+[headless_play] t= 14.80s step= 740 trunk_z=  61.3mm grav_b=(+0.95,-0.04,-0.32)
+[headless_play] t= 14.90s step= 745 trunk_z=  61.5mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 15.00s step= 750 trunk_z=  61.7mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 15.10s step= 755 trunk_z=  61.9mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 15.20s step= 760 trunk_z=  62.0mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 15.30s step= 765 trunk_z=  62.1mm grav_b=(+0.95,-0.02,-0.32)
+[headless_play] t= 15.40s step= 770 trunk_z=  60.6mm grav_b=(+0.96,-0.04,-0.29)
+[headless_play] t= 15.50s step= 775 trunk_z=  56.6mm grav_b=(+0.97,-0.03,-0.25)
+[headless_play] t= 15.60s step= 780 trunk_z=  51.1mm grav_b=(+0.98,-0.02,-0.19)
+[headless_play] t= 15.70s step= 785 trunk_z=  42.7mm grav_b=(+0.99,-0.00,-0.10)
+[headless_play] t= 15.80s step= 790 trunk_z=  36.5mm grav_b=(+1.00,+0.01,-0.05)
+[headless_play] t= 15.90s step= 795 trunk_z=  30.9mm grav_b=(+1.00,-0.00,-0.06)
+[headless_play] t= 16.00s step= 800 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  50.3mm grav_b=(+0.99,+0.01,-0.12)
+[headless_play] t= 16.20s step= 810 trunk_z=  34.4mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 16.30s step= 815 trunk_z=  29.4mm grav_b=(+1.00,-0.01,-0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  28.7mm grav_b=(+1.00,-0.01,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  28.4mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 16.60s step= 830 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.06)
+[headless_play] t= 16.70s step= 835 trunk_z=  28.1mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t= 16.80s step= 840 trunk_z=  28.0mm grav_b=(+1.00,-0.02,+0.08)
+[headless_play] t= 16.90s step= 845 trunk_z=  28.0mm grav_b=(+1.00,-0.02,+0.08)
+[headless_play] t= 17.00s step= 850 trunk_z=  28.0mm grav_b=(+1.00,-0.02,+0.08)
+[headless_play] t= 17.10s step= 855 trunk_z=  28.4mm grav_b=(+1.00,-0.01,+0.09)
+[headless_play] t= 17.20s step= 860 trunk_z=  28.0mm grav_b=(+1.00,-0.03,+0.09)
+[headless_play] t= 17.30s step= 865 trunk_z=  28.0mm grav_b=(+1.00,-0.03,+0.09)
+[headless_play] t= 17.40s step= 870 trunk_z=  28.0mm grav_b=(+1.00,-0.03,+0.09)
+[headless_play] t= 17.50s step= 875 trunk_z=  28.0mm grav_b=(+1.00,-0.03,+0.09)
+[headless_play] t= 17.60s step= 880 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 17.70s step= 885 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 17.80s step= 890 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 17.90s step= 895 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.00s step= 900 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.10s step= 905 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.20s step= 910 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.30s step= 915 trunk_z=  28.1mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.40s step= 920 trunk_z=  28.2mm grav_b=(+1.00,-0.03,+0.08)
+[headless_play] t= 18.50s step= 925 trunk_z=  28.3mm grav_b=(+1.00,-0.03,+0.07)
+[headless_play] t= 18.60s step= 930 trunk_z=  29.9mm grav_b=(+1.00,+0.00,+0.04)
+[headless_play] t= 18.70s step= 935 trunk_z=  29.6mm grav_b=(+1.00,-0.00,+0.04)
+[headless_play] t= 18.80s step= 940 trunk_z=  29.9mm grav_b=(+1.00,+0.00,+0.04)
+[headless_play] t= 18.90s step= 945 trunk_z=  29.9mm grav_b=(+1.00,+0.00,+0.04)
+[headless_play] t= 19.00s step= 950 trunk_z=  29.7mm grav_b=(+1.00,-0.00,+0.04)
+[headless_play] t= 19.10s step= 955 trunk_z=  29.4mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 19.20s step= 960 trunk_z=  29.4mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 19.30s step= 965 trunk_z=  29.4mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 19.40s step= 970 trunk_z=  29.4mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 19.50s step= 975 trunk_z=  29.0mm grav_b=(+1.00,-0.02,+0.04)
+[headless_play] t= 19.60s step= 980 trunk_z=  29.4mm grav_b=(+1.00,-0.00,+0.05)
+[headless_play] t= 19.70s step= 985 trunk_z=  29.2mm grav_b=(+1.00,-0.01,+0.05)
+[headless_play] t= 19.80s step= 990 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 19.90s step= 995 trunk_z=  29.0mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 20.00s step=1000 trunk_z=  29.0mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] t= 20.10s step=1005 trunk_z=  28.9mm grav_b=(+1.00,-0.01,+0.04)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_up-t1.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  81.3mm grav_b=(-1.00,+0.00,+0.00) root_w=(-0.152,+0.199,+0.081)
+[headless_play] cam-world auto: lookat=(-0.152,+0.199,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  78.9mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  43.8mm grav_b=(-1.00,-0.02,+0.00)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.7mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  46.6mm grav_b=(-1.00,+0.00,+0.04)
+[headless_play] t=  0.60s step=  30 trunk_z=  46.4mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  46.5mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  0.90s step=  45 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  47.4mm grav_b=(-0.98,+0.19,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  47.7mm grav_b=(-0.99,-0.13,+0.04)
+[headless_play] t=  1.60s step=  80 trunk_z=  46.5mm grav_b=(-1.00,+0.04,+0.03)
+[headless_play] t=  1.70s step=  85 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  46.2mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  47.2mm grav_b=(-0.99,+0.14,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  46.6mm grav_b=(-1.00,-0.10,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  46.4mm grav_b=(-1.00,+0.02,+0.03)
+[headless_play] t=  2.30s step= 115 trunk_z=  46.1mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.80s step= 140 trunk_z=  46.2mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.60s step= 180 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.00s step= 200 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.10s step= 205 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.20s step= 210 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.30s step= 215 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.90s step= 245 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.10s step= 255 trunk_z=  46.8mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  46.9mm grav_b=(-1.00,+0.03,+0.04)
+[headless_play] t=  6.10s step= 305 trunk_z=  46.7mm grav_b=(-1.00,+0.08,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  47.0mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  47.0mm grav_b=(-1.00,+0.04,+0.04)
+[headless_play] t=  6.40s step= 320 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  6.90s step= 345 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  46.9mm grav_b=(-0.99,+0.11,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  48.7mm grav_b=(-0.98,+0.17,+0.06)
+[headless_play] t=  7.80s step= 390 trunk_z=  50.7mm grav_b=(-0.99,-0.11,+0.13)
+[headless_play] t=  7.90s step= 395 trunk_z=  49.1mm grav_b=(-0.99,+0.11,+0.04)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  59.3mm grav_b=(-1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  44.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.7mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  46.9mm grav_b=(-0.99,-0.12,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  47.2mm grav_b=(-1.00,-0.09,+0.03)
+[headless_play] t=  8.60s step= 430 trunk_z=  46.4mm grav_b=(-1.00,+0.01,+0.03)
+[headless_play] t=  8.70s step= 435 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.03)
+[headless_play] t=  8.80s step= 440 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.10s step= 505 trunk_z=  47.0mm grav_b=(-0.99,+0.12,+0.02)
+[headless_play] t= 10.20s step= 510 trunk_z=  46.9mm grav_b=(-1.00,+0.08,+0.03)
+[headless_play] t= 10.30s step= 515 trunk_z=  46.8mm grav_b=(-1.00,-0.03,+0.04)
+[headless_play] t= 10.40s step= 520 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.80s step= 540 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.90s step= 545 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.30s step= 565 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.20s step= 610 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.30s step= 615 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.40s step= 620 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.60s step= 630 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.70s step= 635 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.80s step= 640 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.90s step= 645 trunk_z=  46.4mm grav_b=(-1.00,+0.04,+0.03)
+[headless_play] t= 13.00s step= 650 trunk_z=  46.7mm grav_b=(-1.00,+0.08,+0.02)
+[headless_play] t= 13.10s step= 655 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.60s step= 680 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t= 13.80s step= 690 trunk_z=  47.5mm grav_b=(-1.00,-0.03,+0.05)
+[headless_play] t= 13.90s step= 695 trunk_z=  48.0mm grav_b=(-0.96,-0.26,+0.03)
+[headless_play] t= 14.00s step= 700 trunk_z=  50.1mm grav_b=(-1.00,+0.03,+0.03)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.6mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.40s step= 720 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.60s step= 730 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t= 14.70s step= 735 trunk_z=  45.9mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 14.80s step= 740 trunk_z=  46.8mm grav_b=(-0.99,-0.10,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  47.3mm grav_b=(-0.99,-0.17,+0.02)
+[headless_play] t= 15.00s step= 750 trunk_z=  48.2mm grav_b=(-0.99,-0.14,+0.05)
+[headless_play] t= 15.10s step= 755 trunk_z=  46.4mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 15.20s step= 760 trunk_z=  46.1mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  46.0mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 15.40s step= 770 trunk_z=  46.6mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  46.7mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  46.4mm grav_b=(-1.00,-0.06,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 15.80s step= 790 trunk_z=  46.8mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t= 15.90s step= 795 trunk_z=  47.5mm grav_b=(-0.97,-0.24,+0.02)
+[headless_play] t= 16.00s step= 800 trunk_z=  45.5mm grav_b=(-1.00,+0.05,+0.01)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  45.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 16.20s step= 810 trunk_z=  46.2mm grav_b=(-1.00,-0.01,+0.03)
+[headless_play] t= 16.30s step= 815 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  46.8mm grav_b=(-1.00,-0.04,+0.04)
+[headless_play] t= 16.50s step= 825 trunk_z=  49.7mm grav_b=(-0.97,-0.20,+0.09)
+[headless_play] t= 16.60s step= 830 trunk_z=  48.3mm grav_b=(-1.00,+0.03,-0.02)
+[headless_play] t= 16.70s step= 835 trunk_z=  46.8mm grav_b=(-1.00,-0.02,+0.04)
+[headless_play] t= 16.80s step= 840 trunk_z=  46.6mm grav_b=(-1.00,-0.00,+0.04)
+[headless_play] t= 16.90s step= 845 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t= 17.10s step= 855 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  47.6mm grav_b=(-0.98,+0.21,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  52.8mm grav_b=(-0.97,+0.21,+0.14)
+[headless_play] t= 17.50s step= 875 trunk_z=  46.7mm grav_b=(-1.00,+0.04,+0.03)
+[headless_play] t= 17.60s step= 880 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.10s step= 905 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.20s step= 910 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.30s step= 915 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.40s step= 920 trunk_z=  46.1mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t= 18.50s step= 925 trunk_z=  47.2mm grav_b=(-1.00,+0.01,+0.06)
+[headless_play] t= 18.60s step= 930 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 18.70s step= 935 trunk_z=  46.1mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 18.80s step= 940 trunk_z=  48.2mm grav_b=(-1.00,+0.05,+0.07)
+[headless_play] t= 18.90s step= 945 trunk_z=  46.5mm grav_b=(-1.00,-0.07,+0.01)
+[headless_play] t= 19.00s step= 950 trunk_z=  47.2mm grav_b=(-0.99,-0.15,+0.02)
+[headless_play] t= 19.10s step= 955 trunk_z=  48.5mm grav_b=(-0.98,-0.21,+0.05)
+[headless_play] t= 19.20s step= 960 trunk_z=  47.8mm grav_b=(-0.98,-0.18,+0.03)
+[headless_play] t= 19.30s step= 965 trunk_z=  47.1mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t= 19.40s step= 970 trunk_z=  46.8mm grav_b=(-1.00,-0.09,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  46.2mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  46.5mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  46.7mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  47.0mm grav_b=(-0.99,-0.13,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  47.8mm grav_b=(-0.98,-0.21,+0.03)
+[headless_play] t= 20.00s step=1000 trunk_z=  50.8mm grav_b=(-0.95,-0.30,+0.08)
+[headless_play] t= 20.10s step=1005 trunk_z=  51.1mm grav_b=(-0.94,-0.32,+0.07)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_up-t2.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  58.7mm grav_b=(-1.00,+0.00,+0.00) root_w=(-0.283,+0.093,+0.059)
+[headless_play] cam-world auto: lookat=(-0.283,+0.093,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  56.2mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  45.3mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.7mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.60s step=  30 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.90s step=  45 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  46.1mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  46.8mm grav_b=(-1.00,-0.02,+0.04)
+[headless_play] t=  1.60s step=  80 trunk_z=  48.2mm grav_b=(-1.00,-0.05,+0.08)
+[headless_play] t=  1.70s step=  85 trunk_z=  46.2mm grav_b=(-1.00,+0.04,+0.01)
+[headless_play] t=  1.80s step=  90 trunk_z=  46.1mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  46.9mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  48.4mm grav_b=(-0.98,+0.21,+0.04)
+[headless_play] t=  2.30s step= 115 trunk_z=  49.2mm grav_b=(-0.99,-0.09,+0.13)
+[headless_play] t=  2.40s step= 120 trunk_z=  48.5mm grav_b=(-0.99,+0.09,+0.05)
+[headless_play] t=  2.50s step= 125 trunk_z=  46.0mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  46.3mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  2.80s step= 140 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  47.6mm grav_b=(-1.00,+0.07,+0.05)
+[headless_play] t=  3.60s step= 180 trunk_z=  46.7mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  46.5mm grav_b=(-1.00,+0.06,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  4.00s step= 200 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.10s step= 205 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.20s step= 210 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.30s step= 215 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  46.3mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t=  4.90s step= 245 trunk_z=  47.0mm grav_b=(-1.00,+0.08,+0.03)
+[headless_play] t=  5.00s step= 250 trunk_z=  47.9mm grav_b=(-1.00,-0.00,+0.09)
+[headless_play] t=  5.10s step= 255 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  46.6mm grav_b=(-1.00,+0.06,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  46.3mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  46.6mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  46.9mm grav_b=(-0.99,-0.10,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  46.9mm grav_b=(-1.00,-0.02,+0.04)
+[headless_play] t=  5.90s step= 295 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  47.9mm grav_b=(-0.97,-0.22,+0.03)
+[headless_play] t=  6.40s step= 320 trunk_z=  46.1mm grav_b=(-1.00,-0.04,+0.01)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.90s step= 345 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  47.3mm grav_b=(-0.99,+0.16,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  47.0mm grav_b=(-0.99,+0.12,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  46.5mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.80s step= 390 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  50.9mm grav_b=(-1.00,+0.00,-0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.70s step= 435 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.80s step= 440 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  47.8mm grav_b=(-1.00,-0.00,+0.08)
+[headless_play] t=  9.00s step= 450 trunk_z=  49.3mm grav_b=(-0.99,-0.00,+0.14)
+[headless_play] t=  9.10s step= 455 trunk_z=  49.2mm grav_b=(-0.99,+0.00,+0.13)
+[headless_play] t=  9.20s step= 460 trunk_z=  47.2mm grav_b=(-1.00,+0.00,+0.06)
+[headless_play] t=  9.30s step= 465 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.10s step= 505 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.20s step= 510 trunk_z=  46.3mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.80s step= 540 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.90s step= 545 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  47.1mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  46.8mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  46.3mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 11.30s step= 565 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.20s step= 610 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.30s step= 615 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.40s step= 620 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t= 12.60s step= 630 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.70s step= 635 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.80s step= 640 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.90s step= 645 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.10s step= 655 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  46.9mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  46.4mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 13.60s step= 680 trunk_z=  46.3mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 13.80s step= 690 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  46.9mm grav_b=(-1.00,-0.03,+0.04)
+[headless_play] t= 14.40s step= 720 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.60s step= 730 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.70s step= 735 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.80s step= 740 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.00s step= 750 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.10s step= 755 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.20s step= 760 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  47.4mm grav_b=(-1.00,-0.00,+0.07)
+[headless_play] t= 15.40s step= 770 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.80s step= 790 trunk_z=  46.9mm grav_b=(-1.00,+0.05,+0.03)
+[headless_play] t= 15.90s step= 795 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 16.00s step= 800 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  41.4mm grav_b=(-1.00,-0.03,+0.03)
+[headless_play] t= 16.20s step= 810 trunk_z=  45.6mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 16.30s step= 815 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  47.1mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] t= 16.60s step= 830 trunk_z=  48.9mm grav_b=(-0.98,+0.18,+0.06)
+[headless_play] t= 16.70s step= 835 trunk_z=  47.7mm grav_b=(-0.99,-0.11,+0.03)
+[headless_play] t= 16.80s step= 840 trunk_z=  46.7mm grav_b=(-1.00,+0.02,+0.04)
+[headless_play] t= 16.90s step= 845 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.03)
+[headless_play] t= 17.10s step= 855 trunk_z=  46.1mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.60s step= 880 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  50.0mm grav_b=(-0.98,-0.12,+0.12)
+[headless_play] t= 18.10s step= 905 trunk_z=  47.1mm grav_b=(-1.00,+0.01,+0.05)
+[headless_play] t= 18.20s step= 910 trunk_z=  46.3mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 18.30s step= 915 trunk_z=  46.2mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 18.40s step= 920 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.60s step= 930 trunk_z=  49.9mm grav_b=(-0.99,+0.01,+0.15)
+[headless_play] t= 18.70s step= 935 trunk_z=  48.3mm grav_b=(-0.99,+0.10,+0.06)
+[headless_play] t= 18.80s step= 940 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 18.90s step= 945 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.10s step= 955 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.20s step= 960 trunk_z=  46.1mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 19.30s step= 965 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.40s step= 970 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  46.6mm grav_b=(-1.00,+0.03,+0.03)
+[headless_play] t= 20.10s step=1005 trunk_z=  46.4mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-face_up-t3.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  76.5mm grav_b=(-1.00,+0.00,+0.00) root_w=(+0.017,+0.319,+0.077)
+[headless_play] cam-world auto: lookat=(+0.017,+0.319,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  74.2mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  44.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.7mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.60s step=  30 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  47.0mm grav_b=(-0.99,+0.11,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  48.2mm grav_b=(-0.99,+0.15,+0.05)
+[headless_play] t=  0.90s step=  45 trunk_z=  48.9mm grav_b=(-0.99,+0.04,+0.11)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.60s step=  80 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.70s step=  85 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.30s step= 115 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  46.5mm grav_b=(-1.00,-0.01,+0.04)
+[headless_play] t=  2.80s step= 140 trunk_z=  47.9mm grav_b=(-1.00,+0.01,+0.08)
+[headless_play] t=  2.90s step= 145 trunk_z=  47.1mm grav_b=(-1.00,+0.01,+0.06)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.60s step= 180 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  47.2mm grav_b=(-0.99,+0.15,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  50.8mm grav_b=(-0.98,+0.14,+0.11)
+[headless_play] t=  3.90s step= 195 trunk_z=  49.0mm grav_b=(-1.00,-0.03,+0.05)
+[headless_play] t=  4.00s step= 200 trunk_z=  48.3mm grav_b=(-0.99,+0.15,+0.05)
+[headless_play] t=  4.10s step= 205 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.20s step= 210 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.30s step= 215 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  46.2mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.90s step= 245 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.10s step= 255 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  47.2mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  48.0mm grav_b=(-1.00,+0.02,+0.05)
+[headless_play] t=  5.50s step= 275 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  46.8mm grav_b=(-1.00,+0.03,+0.04)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.40s step= 320 trunk_z=  46.4mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.90s step= 345 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.01)
+[headless_play] t=  7.50s step= 375 trunk_z=  46.6mm grav_b=(-1.00,+0.06,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  46.5mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.80s step= 390 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  71.0mm grav_b=(-1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  43.5mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.70s step= 435 trunk_z=  47.2mm grav_b=(-1.00,-0.05,+0.04)
+[headless_play] t=  8.80s step= 440 trunk_z=  46.8mm grav_b=(-1.00,-0.09,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  47.2mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  49.7mm grav_b=(-0.97,-0.22,+0.05)
+[headless_play] t=  9.50s step= 475 trunk_z=  46.7mm grav_b=(-1.00,-0.06,+0.01)
+[headless_play] t=  9.60s step= 480 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  46.9mm grav_b=(-1.00,-0.08,+0.01)
+[headless_play] t= 10.00s step= 500 trunk_z=  48.0mm grav_b=(-0.97,-0.23,+0.03)
+[headless_play] t= 10.10s step= 505 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.01)
+[headless_play] t= 10.20s step= 510 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  46.3mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 10.80s step= 540 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.90s step= 545 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.30s step= 565 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  46.1mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  46.4mm grav_b=(-1.00,-0.00,+0.04)
+[headless_play] t= 11.60s step= 580 trunk_z=  46.7mm grav_b=(-1.00,+0.00,+0.05)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  47.5mm grav_b=(-1.00,-0.05,+0.05)
+[headless_play] t= 12.20s step= 610 trunk_z=  49.5mm grav_b=(-0.99,-0.11,+0.11)
+[headless_play] t= 12.30s step= 615 trunk_z=  50.4mm grav_b=(-0.98,-0.11,+0.14)
+[headless_play] t= 12.40s step= 620 trunk_z=  50.3mm grav_b=(-0.99,-0.04,+0.16)
+[headless_play] t= 12.50s step= 625 trunk_z=  50.4mm grav_b=(-0.98,+0.01,+0.18)
+[headless_play] t= 12.60s step= 630 trunk_z=  51.0mm grav_b=(-0.98,-0.00,+0.21)
+[headless_play] t= 12.70s step= 635 trunk_z=  51.0mm grav_b=(-0.98,-0.00,+0.21)
+[headless_play] t= 12.80s step= 640 trunk_z=  51.3mm grav_b=(-0.98,-0.10,+0.20)
+[headless_play] t= 12.90s step= 645 trunk_z=  51.5mm grav_b=(-0.92,-0.36,+0.15)
+[headless_play] t= 13.00s step= 650 trunk_z=  49.9mm grav_b=(-1.00,+0.01,+0.03)
+[headless_play] t= 13.10s step= 655 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  47.0mm grav_b=(-0.99,+0.11,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  46.9mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t= 13.60s step= 680 trunk_z=  46.1mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 13.80s step= 690 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  47.1mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  46.5mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.40s step= 720 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 14.60s step= 730 trunk_z=  47.2mm grav_b=(-1.00,-0.00,+0.06)
+[headless_play] t= 14.70s step= 735 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.01)
+[headless_play] t= 14.80s step= 740 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.00s step= 750 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.10s step= 755 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.20s step= 760 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  46.5mm grav_b=(-1.00,-0.01,+0.01)
+[headless_play] t= 15.40s step= 770 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.80s step= 790 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.90s step= 795 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 16.00s step= 800 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  44.9mm grav_b=(-1.00,-0.01,-0.00)
+[headless_play] t= 16.20s step= 810 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.30s step= 815 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  47.8mm grav_b=(-0.98,+0.20,+0.03)
+[headless_play] t= 16.60s step= 830 trunk_z=  47.8mm grav_b=(-1.00,-0.03,+0.08)
+[headless_play] t= 16.70s step= 835 trunk_z=  47.1mm grav_b=(-1.00,-0.02,+0.05)
+[headless_play] t= 16.80s step= 840 trunk_z=  46.6mm grav_b=(-1.00,+0.07,+0.02)
+[headless_play] t= 16.90s step= 845 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.10s step= 855 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  46.7mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  46.3mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  46.6mm grav_b=(-1.00,+0.07,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 17.60s step= 880 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.10s step= 905 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.20s step= 910 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.30s step= 915 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.40s step= 920 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.60s step= 930 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.70s step= 935 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.80s step= 940 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.90s step= 945 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.10s step= 955 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.20s step= 960 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.30s step= 965 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.40s step= 970 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  46.2mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 20.10s step=1005 trunk_z=  46.3mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-standing-t1.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 121.1mm grav_b=(+0.00,-0.00,-1.00) root_w=(+0.259,-0.202,+0.121)
+[headless_play] cam-world auto: lookat=(+0.259,-0.202,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 118.5mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 117.0mm grav_b=(-0.00,-0.04,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 116.6mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.5mm grav_b=(-0.09,+0.09,-0.99)
+[headless_play] t=  0.50s step=  25 trunk_z= 120.5mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 119.4mm grav_b=(-0.09,-0.04,-0.99)
+[headless_play] t=  0.70s step=  35 trunk_z= 123.2mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 118.7mm grav_b=(-0.04,+0.00,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 121.6mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 125.5mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.4mm grav_b=(-0.06,+0.08,-0.99)
+[headless_play] t=  1.20s step=  60 trunk_z= 120.3mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 121.2mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 116.2mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 121.5mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 118.0mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 120.9mm grav_b=(-0.10,-0.04,-0.99)
+[headless_play] t=  1.80s step=  90 trunk_z= 121.8mm grav_b=(-0.10,-0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 117.7mm grav_b=(-0.15,+0.05,-0.99)
+[headless_play] t=  2.00s step= 100 trunk_z= 125.4mm grav_b=(-0.15,+0.02,-0.99)
+[headless_play] t=  2.10s step= 105 trunk_z= 106.0mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 115.2mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 112.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 121.7mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 116.6mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 119.9mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 117.8mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 119.2mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 117.2mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 122.1mm grav_b=(-0.10,-0.08,-0.99)
+[headless_play] t=  3.10s step= 155 trunk_z= 124.4mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 119.1mm grav_b=(-0.07,-0.02,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 121.6mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 118.8mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 119.0mm grav_b=(-0.10,-0.05,-0.99)
+[headless_play] t=  3.60s step= 180 trunk_z= 117.5mm grav_b=(-0.08,+0.02,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 118.9mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 119.9mm grav_b=(+0.00,+0.00,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 118.5mm grav_b=(-0.01,-0.09,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 123.0mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 120.6mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 115.8mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 117.5mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 118.4mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 115.7mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 119.7mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 118.5mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 119.2mm grav_b=(-0.03,-0.11,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 122.9mm grav_b=(-0.03,-0.10,-0.99)
+[headless_play] t=  5.00s step= 250 trunk_z= 119.4mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 118.9mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 120.5mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 115.8mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 121.3mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 119.6mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 116.5mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 120.1mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 115.3mm grav_b=(-0.02,-0.08,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 123.4mm grav_b=(-0.04,-0.14,-0.99)
+[headless_play] t=  6.00s step= 300 trunk_z= 126.8mm grav_b=(-0.04,-0.24,-0.97)
+[headless_play] t=  6.10s step= 305 trunk_z= 128.2mm grav_b=(-0.02,-0.34,-0.94)
+[headless_play] t=  6.20s step= 310 trunk_z= 126.4mm grav_b=(+0.07,-0.47,-0.88)
+[headless_play] t=  6.30s step= 315 trunk_z= 117.4mm grav_b=(+0.21,-0.69,-0.69)
+[headless_play] t=  6.40s step= 320 trunk_z=  77.7mm grav_b=(+0.20,-0.96,-0.19)
+[headless_play] t=  6.50s step= 325 trunk_z=  42.7mm grav_b=(-0.23,-0.97,+0.05)
+[headless_play] t=  6.60s step= 330 trunk_z=  44.2mm grav_b=(-0.24,-0.97,+0.04)
+[headless_play] t=  6.70s step= 335 trunk_z=  41.7mm grav_b=(-0.41,-0.91,+0.06)
+[headless_play] t=  6.80s step= 340 trunk_z=  39.4mm grav_b=(-0.54,-0.84,+0.06)
+[headless_play] t=  6.90s step= 345 trunk_z=  41.7mm grav_b=(-0.59,-0.80,+0.08)
+[headless_play] t=  7.00s step= 350 trunk_z=  44.7mm grav_b=(-0.69,-0.72,+0.09)
+[headless_play] t=  7.10s step= 355 trunk_z=  48.1mm grav_b=(-0.84,-0.53,+0.08)
+[headless_play] t=  7.20s step= 360 trunk_z=  49.5mm grav_b=(-0.90,-0.42,+0.09)
+[headless_play] t=  7.30s step= 365 trunk_z=  50.0mm grav_b=(-0.94,-0.33,+0.10)
+[headless_play] t=  7.40s step= 370 trunk_z=  49.2mm grav_b=(-0.97,-0.23,+0.07)
+[headless_play] t=  7.50s step= 375 trunk_z=  46.6mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.80s step= 390 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.00s step= 400 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.10s step= 405 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  46.7mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  47.1mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  47.8mm grav_b=(-0.97,-0.25,+0.03)
+[headless_play] t=  8.50s step= 425 trunk_z=  51.6mm grav_b=(-0.93,-0.34,+0.12)
+[headless_play] t=  8.60s step= 430 trunk_z=  53.9mm grav_b=(-0.95,-0.31,+0.08)
+[headless_play] t=  8.70s step= 435 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.01)
+[headless_play] t=  8.80s step= 440 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  46.7mm grav_b=(-1.00,+0.06,+0.03)
+[headless_play] t=  9.70s step= 485 trunk_z=  46.3mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  46.7mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  47.7mm grav_b=(-0.99,-0.16,+0.03)
+[headless_play] t= 10.00s step= 500 trunk_z=  50.1mm grav_b=(-0.98,-0.19,+0.10)
+[headless_play] t= 10.10s step= 505 trunk_z=  48.7mm grav_b=(-0.99,-0.15,+0.04)
+[headless_play] t= 10.20s step= 510 trunk_z=  45.9mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  46.3mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  46.2mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 10.80s step= 540 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 10.90s step= 545 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  48.8mm grav_b=(-0.99,+0.01,+0.12)
+[headless_play] t= 11.30s step= 565 trunk_z=  49.8mm grav_b=(-0.99,-0.03,+0.15)
+[headless_play] t= 11.40s step= 570 trunk_z=  49.2mm grav_b=(-0.99,-0.02,+0.13)
+[headless_play] t= 11.50s step= 575 trunk_z=  46.4mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.20s step= 610 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.30s step= 615 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.40s step= 620 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.60s step= 630 trunk_z=  47.8mm grav_b=(-1.00,-0.04,+0.07)
+[headless_play] t= 12.70s step= 635 trunk_z=  48.0mm grav_b=(-0.99,-0.08,+0.06)
+[headless_play] t= 12.80s step= 640 trunk_z=  47.0mm grav_b=(-0.99,-0.13,+0.01)
+[headless_play] t= 12.90s step= 645 trunk_z=  47.7mm grav_b=(-0.98,-0.18,+0.03)
+[headless_play] t= 13.00s step= 650 trunk_z=  50.7mm grav_b=(-0.97,-0.20,+0.09)
+[headless_play] t= 13.10s step= 655 trunk_z=  49.0mm grav_b=(-0.99,-0.13,+0.03)
+[headless_play] t= 13.20s step= 660 trunk_z=  46.9mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  47.2mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  47.0mm grav_b=(-0.99,-0.12,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 13.60s step= 680 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.80s step= 690 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] RESET at t= 14.28s step= 714 (env termination, not a recovery)
+[headless_play] t= 14.30s step= 715 trunk_z= 122.1mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 118.7mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 115.1mm grav_b=(-0.08,+0.06,-0.99)
+[headless_play] t= 14.60s step= 730 trunk_z= 121.7mm grav_b=(-0.12,+0.04,-0.99)
+[headless_play] t= 14.70s step= 735 trunk_z= 120.0mm grav_b=(-0.11,+0.02,-0.99)
+[headless_play] t= 14.80s step= 740 trunk_z= 120.0mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 118.1mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 122.8mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 130.4mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 122.3mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 123.7mm grav_b=(-0.04,-0.07,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 125.3mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 118.3mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 123.0mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 125.8mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 116.6mm grav_b=(-0.09,-0.07,-0.99)
+[headless_play] t= 15.90s step= 795 trunk_z= 124.3mm grav_b=(-0.11,-0.12,-0.99)
+[headless_play] t= 16.00s step= 800 trunk_z= 124.9mm grav_b=(-0.09,-0.11,-0.99)
+[headless_play] t= 16.10s step= 805 trunk_z= 119.8mm grav_b=(-0.08,-0.07,-0.99)
+[headless_play] t= 16.20s step= 810 trunk_z= 122.9mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 127.4mm grav_b=(-0.03,+0.10,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 127.2mm grav_b=(-0.03,+0.11,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 121.0mm grav_b=(-0.06,+0.01,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 122.0mm grav_b=(-0.06,-0.01,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(-0.06,+0.11,-0.99)
+[headless_play] t= 16.80s step= 840 trunk_z= 126.3mm grav_b=(-0.09,+0.16,-0.98)
+[headless_play] t= 16.90s step= 845 trunk_z= 127.8mm grav_b=(-0.07,+0.15,-0.99)
+[headless_play] t= 17.00s step= 850 trunk_z= 127.2mm grav_b=(-0.04,+0.13,-0.99)
+[headless_play] t= 17.10s step= 855 trunk_z= 120.7mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 125.0mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 119.7mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 127.1mm grav_b=(+0.06,+0.09,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 136.5mm grav_b=(+0.05,+0.15,-0.99)
+[headless_play] t= 17.60s step= 880 trunk_z= 122.4mm grav_b=(-0.04,+0.17,-0.98)
+[headless_play] t= 17.70s step= 885 trunk_z= 125.7mm grav_b=(+0.04,+0.26,-0.97)
+[headless_play] t= 17.80s step= 890 trunk_z=  97.4mm grav_b=(+0.07,+0.19,-0.98)
+[headless_play] t= 17.90s step= 895 trunk_z= 113.9mm grav_b=(+0.06,+0.09,-0.99)
+[headless_play] t= 18.00s step= 900 trunk_z= 115.3mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 116.9mm grav_b=(-0.14,-0.14,-0.98)
+[headless_play] t= 18.20s step= 910 trunk_z= 123.9mm grav_b=(-0.14,-0.18,-0.97)
+[headless_play] t= 18.30s step= 915 trunk_z= 125.0mm grav_b=(-0.13,-0.14,-0.98)
+[headless_play] t= 18.40s step= 920 trunk_z= 126.4mm grav_b=(-0.09,-0.13,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 118.8mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 119.3mm grav_b=(+0.06,-0.06,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 120.8mm grav_b=(+0.03,+0.09,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 121.6mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 127.1mm grav_b=(-0.10,-0.01,-0.99)
+[headless_play] t= 19.00s step= 950 trunk_z= 118.1mm grav_b=(-0.15,-0.07,-0.99)
+[headless_play] t= 19.10s step= 955 trunk_z= 124.0mm grav_b=(-0.14,-0.01,-0.99)
+[headless_play] t= 19.20s step= 960 trunk_z= 116.8mm grav_b=(-0.11,+0.05,-0.99)
+[headless_play] t= 19.30s step= 965 trunk_z= 122.5mm grav_b=(-0.09,+0.09,-0.99)
+[headless_play] t= 19.40s step= 970 trunk_z= 121.3mm grav_b=(-0.07,+0.07,-0.99)
+[headless_play] t= 19.50s step= 975 trunk_z= 112.9mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 119.7mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 116.6mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 114.6mm grav_b=(-0.02,+0.11,-0.99)
+[headless_play] t= 19.90s step= 995 trunk_z= 120.4mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 20.00s step=1000 trunk_z= 116.0mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 118.5mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-standing-t2.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.0mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.284,-0.173,+0.127)
+[headless_play] cam-world auto: lookat=(-0.284,-0.173,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 124.3mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.8mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 118.6mm grav_b=(-0.04,+0.09,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 121.6mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 118.0mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 121.8mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 118.7mm grav_b=(-0.06,-0.00,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 122.3mm grav_b=(-0.07,+0.05,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 124.2mm grav_b=(-0.08,+0.07,-0.99)
+[headless_play] t=  0.90s step=  45 trunk_z= 122.1mm grav_b=(-0.08,+0.07,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 119.1mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.3mm grav_b=(-0.05,+0.00,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 119.1mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 123.5mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 120.8mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 117.7mm grav_b=(-0.01,-0.07,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 123.6mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 116.3mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 123.0mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 121.8mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 118.2mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 123.2mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 126.6mm grav_b=(-0.02,-0.11,-0.99)
+[headless_play] t=  2.30s step= 115 trunk_z= 126.0mm grav_b=(-0.05,-0.08,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 120.7mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 124.8mm grav_b=(-0.06,+0.07,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 121.8mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 118.8mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 121.9mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 118.3mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 123.3mm grav_b=(-0.06,+0.07,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 120.9mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 117.7mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 121.4mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 116.3mm grav_b=(-0.04,+0.04,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 123.9mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 115.7mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 120.9mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 120.6mm grav_b=(-0.11,-0.00,-0.99)
+[headless_play] t=  3.90s step= 195 trunk_z= 121.9mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 121.8mm grav_b=(-0.07,+0.02,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 115.8mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 121.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 119.4mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 125.2mm grav_b=(-0.03,+0.09,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 121.5mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 120.0mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 121.2mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 120.0mm grav_b=(-0.08,+0.11,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 125.4mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] t=  5.00s step= 250 trunk_z= 126.4mm grav_b=(-0.02,+0.14,-0.99)
+[headless_play] t=  5.10s step= 255 trunk_z= 125.6mm grav_b=(+0.00,+0.12,-0.99)
+[headless_play] t=  5.20s step= 260 trunk_z= 118.8mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 123.3mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.0mm grav_b=(-0.08,+0.03,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 122.2mm grav_b=(-0.06,+0.06,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 121.0mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 118.8mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 122.0mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 118.6mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 123.3mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 121.8mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 116.8mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 127.0mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 123.7mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 121.0mm grav_b=(-0.09,+0.05,-0.99)
+[headless_play] t=  6.60s step= 330 trunk_z= 122.3mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 115.9mm grav_b=(-0.13,-0.05,-0.99)
+[headless_play] t=  6.80s step= 340 trunk_z= 126.8mm grav_b=(-0.09,+0.01,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 105.1mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 112.5mm grav_b=(+0.10,+0.01,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 119.4mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 121.5mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 119.8mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 117.6mm grav_b=(-0.12,+0.00,-0.99)
+[headless_play] t=  7.50s step= 375 trunk_z= 116.0mm grav_b=(-0.11,-0.05,-0.99)
+[headless_play] t=  7.60s step= 380 trunk_z= 120.5mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 120.4mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 123.9mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 121.3mm grav_b=(+0.00,+0.07,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 117.5mm grav_b=(-0.14,-0.04,-0.99)
+[headless_play] t=  8.10s step= 405 trunk_z= 124.2mm grav_b=(-0.14,-0.01,-0.99)
+[headless_play] t=  8.20s step= 410 trunk_z= 112.6mm grav_b=(-0.08,+0.08,-0.99)
+[headless_play] t=  8.30s step= 415 trunk_z= 121.9mm grav_b=(+0.03,+0.07,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 117.2mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 122.3mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 115.8mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 123.6mm grav_b=(+0.00,+0.08,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 124.3mm grav_b=(-0.03,+0.09,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 120.1mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 120.6mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 114.0mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 123.6mm grav_b=(-0.00,+0.11,-0.99)
+[headless_play] t=  9.30s step= 465 trunk_z= 124.4mm grav_b=(-0.02,+0.10,-0.99)
+[headless_play] t=  9.40s step= 470 trunk_z= 117.4mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 122.0mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 118.0mm grav_b=(+0.03,-0.00,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 114.0mm grav_b=(+0.09,+0.07,-0.99)
+[headless_play] t=  9.80s step= 490 trunk_z= 123.3mm grav_b=(+0.06,+0.07,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 120.9mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 117.9mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 121.8mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 115.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 115.2mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 121.4mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 114.4mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 123.4mm grav_b=(-0.07,-0.03,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 121.9mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 105.9mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 115.6mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 119.2mm grav_b=(-0.03,+0.04,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 112.3mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 118.1mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 104.4mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 116.3mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 118.3mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 116.0mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 118.5mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 105.1mm grav_b=(+0.03,+0.07,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 117.5mm grav_b=(+0.01,+0.09,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 118.9mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 117.0mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 122.7mm grav_b=(-0.00,+0.00,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 118.0mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 121.0mm grav_b=(-0.02,+0.09,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 123.7mm grav_b=(-0.01,+0.05,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 117.4mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 128.2mm grav_b=(-0.07,-0.09,-0.99)
+[headless_play] t= 12.80s step= 640 trunk_z= 130.1mm grav_b=(-0.11,-0.14,-0.98)
+[headless_play] t= 12.90s step= 645 trunk_z= 126.1mm grav_b=(-0.08,-0.12,-0.99)
+[headless_play] t= 13.00s step= 650 trunk_z= 118.2mm grav_b=(-0.03,-0.09,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 124.4mm grav_b=(+0.00,+0.10,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 119.7mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 126.1mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 121.4mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 123.8mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 119.3mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 122.0mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 120.8mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 113.3mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 124.3mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 121.9mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 119.0mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 121.3mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 113.3mm grav_b=(-0.02,+0.04,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 124.4mm grav_b=(+0.01,+0.09,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 125.8mm grav_b=(+0.00,+0.10,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 118.9mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 123.0mm grav_b=(-0.09,-0.03,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 122.0mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 119.7mm grav_b=(-0.05,+0.08,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 123.5mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 117.2mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 121.8mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 121.9mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 117.4mm grav_b=(-0.05,+0.05,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 123.5mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 118.7mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 121.2mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 122.8mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 116.3mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 126.9mm grav_b=(-0.01,+0.12,-0.99)
+[headless_play] t= 16.20s step= 810 trunk_z= 127.8mm grav_b=(-0.03,+0.16,-0.99)
+[headless_play] t= 16.30s step= 815 trunk_z= 122.7mm grav_b=(-0.10,+0.12,-0.99)
+[headless_play] t= 16.40s step= 820 trunk_z= 119.4mm grav_b=(-0.10,+0.09,-0.99)
+[headless_play] t= 16.50s step= 825 trunk_z= 114.3mm grav_b=(-0.07,+0.12,-0.99)
+[headless_play] t= 16.60s step= 830 trunk_z= 122.3mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 118.0mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 122.6mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 125.5mm grav_b=(-0.07,-0.07,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 123.0mm grav_b=(-0.03,-0.07,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 116.3mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 120.2mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 117.5mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 119.4mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 116.4mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 116.7mm grav_b=(+0.03,+0.12,-0.99)
+[headless_play] t= 17.70s step= 885 trunk_z= 125.8mm grav_b=(+0.02,+0.15,-0.99)
+[headless_play] t= 17.80s step= 890 trunk_z= 126.7mm grav_b=(+0.01,+0.18,-0.98)
+[headless_play] t= 17.90s step= 895 trunk_z= 126.2mm grav_b=(+0.01,+0.18,-0.98)
+[headless_play] t= 18.00s step= 900 trunk_z= 124.9mm grav_b=(+0.01,+0.14,-0.99)
+[headless_play] t= 18.10s step= 905 trunk_z= 118.1mm grav_b=(-0.01,+0.11,-0.99)
+[headless_play] t= 18.20s step= 910 trunk_z= 118.6mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 122.0mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 117.4mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 117.9mm grav_b=(-0.07,+0.08,-0.99)
+[headless_play] t= 18.60s step= 930 trunk_z= 122.2mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 116.6mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 114.6mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 113.2mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 107.7mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 118.1mm grav_b=(+0.02,+0.08,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 117.2mm grav_b=(+0.04,+0.08,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 114.4mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 118.8mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 114.2mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 114.0mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 117.0mm grav_b=(+0.02,+0.07,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 112.7mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 118.3mm grav_b=(-0.01,-0.04,-1.00)
+[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)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.8mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/seed-standing-t3.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 125.4mm grav_b=(+0.00,-0.00,-1.00) root_w=(-0.116,+0.454,+0.125)
+[headless_play] cam-world auto: lookat=(-0.116,+0.454,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 122.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 116.1mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 117.6mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.7mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 121.1mm grav_b=(-0.07,-0.07,-0.99)
+[headless_play] t=  0.50s step=  25 trunk_z= 117.0mm grav_b=(-0.09,+0.01,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 123.5mm grav_b=(-0.06,+0.08,-0.99)
+[headless_play] t=  0.70s step=  35 trunk_z= 128.2mm grav_b=(-0.01,+0.10,-0.99)
+[headless_play] t=  0.80s step=  40 trunk_z= 129.1mm grav_b=(+0.01,+0.10,-0.99)
+[headless_play] t=  0.90s step=  45 trunk_z= 126.3mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 122.7mm grav_b=(-0.08,-0.03,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.0mm grav_b=(-0.11,-0.02,-0.99)
+[headless_play] t=  1.20s step=  60 trunk_z= 119.4mm grav_b=(-0.11,+0.06,-0.99)
+[headless_play] t=  1.30s step=  65 trunk_z= 122.3mm grav_b=(-0.13,+0.06,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 119.3mm grav_b=(-0.12,+0.02,-0.99)
+[headless_play] t=  1.50s step=  75 trunk_z= 121.6mm grav_b=(-0.09,-0.06,-0.99)
+[headless_play] t=  1.60s step=  80 trunk_z= 121.2mm grav_b=(-0.07,-0.02,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 120.6mm grav_b=(-0.05,+0.06,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 124.2mm grav_b=(-0.06,+0.08,-0.99)
+[headless_play] t=  1.90s step=  95 trunk_z= 120.8mm grav_b=(-0.09,+0.06,-0.99)
+[headless_play] t=  2.00s step= 100 trunk_z= 117.8mm grav_b=(-0.09,-0.05,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 122.9mm grav_b=(-0.06,-0.03,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 117.3mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 123.6mm grav_b=(-0.07,+0.08,-0.99)
+[headless_play] t=  2.40s step= 120 trunk_z= 120.1mm grav_b=(-0.10,+0.03,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 118.6mm grav_b=(-0.10,-0.06,-0.99)
+[headless_play] t=  2.60s step= 130 trunk_z= 124.0mm grav_b=(-0.08,-0.04,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 117.4mm grav_b=(-0.08,+0.02,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 123.7mm grav_b=(-0.08,+0.08,-0.99)
+[headless_play] t=  2.90s step= 145 trunk_z= 122.9mm grav_b=(-0.10,+0.06,-0.99)
+[headless_play] t=  3.00s step= 150 trunk_z= 118.5mm grav_b=(-0.10,+0.01,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 122.9mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 120.5mm grav_b=(-0.06,-0.00,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 122.1mm grav_b=(-0.15,+0.12,-0.98)
+[headless_play] t=  3.40s step= 170 trunk_z= 123.7mm grav_b=(-0.16,+0.11,-0.98)
+[headless_play] t=  3.50s step= 175 trunk_z= 115.0mm grav_b=(-0.10,+0.01,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 121.7mm grav_b=(-0.10,+0.02,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 114.1mm grav_b=(-0.07,+0.03,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 118.5mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 123.3mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 121.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 123.2mm grav_b=(-0.02,-0.07,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 121.1mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 118.6mm grav_b=(-0.16,+0.05,-0.99)
+[headless_play] t=  4.40s step= 220 trunk_z= 120.3mm grav_b=(-0.15,+0.03,-0.99)
+[headless_play] t=  4.50s step= 225 trunk_z= 111.6mm grav_b=(-0.09,-0.04,-0.99)
+[headless_play] t=  4.60s step= 230 trunk_z= 115.4mm grav_b=(-0.10,-0.03,-0.99)
+[headless_play] t=  4.70s step= 235 trunk_z= 111.9mm grav_b=(-0.08,+0.07,-0.99)
+[headless_play] t=  4.80s step= 240 trunk_z= 120.9mm grav_b=(-0.12,+0.10,-0.99)
+[headless_play] t=  4.90s step= 245 trunk_z= 124.6mm grav_b=(-0.10,+0.07,-0.99)
+[headless_play] t=  5.00s step= 250 trunk_z= 112.9mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 115.0mm grav_b=(-0.02,-0.12,-0.99)
+[headless_play] t=  5.20s step= 260 trunk_z= 116.0mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 111.8mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.2mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 117.2mm grav_b=(-0.06,-0.00,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 116.8mm grav_b=(-0.10,-0.13,-0.99)
+[headless_play] t=  5.70s step= 285 trunk_z= 122.3mm grav_b=(-0.09,-0.13,-0.99)
+[headless_play] t=  5.80s step= 290 trunk_z= 121.8mm grav_b=(-0.08,-0.11,-0.99)
+[headless_play] t=  5.90s step= 295 trunk_z= 113.5mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 119.9mm grav_b=(-0.07,+0.07,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 121.1mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 118.4mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 116.5mm grav_b=(-0.07,-0.10,-0.99)
+[headless_play] t=  6.40s step= 320 trunk_z= 118.7mm grav_b=(-0.06,-0.04,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 112.8mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 121.0mm grav_b=(-0.17,+0.02,-0.99)
+[headless_play] t=  6.70s step= 335 trunk_z= 120.4mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 110.2mm grav_b=(-0.10,-0.07,-0.99)
+[headless_play] t=  6.90s step= 345 trunk_z= 116.1mm grav_b=(-0.09,-0.01,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 108.9mm grav_b=(-0.01,+0.09,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 117.6mm grav_b=(-0.00,+0.10,-0.99)
+[headless_play] t=  7.20s step= 360 trunk_z= 119.7mm grav_b=(+0.00,+0.09,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 116.1mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 119.8mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 123.7mm grav_b=(-0.13,-0.06,-0.99)
+[headless_play] t=  7.60s step= 380 trunk_z= 115.7mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 115.0mm grav_b=(-0.10,+0.03,-0.99)
+[headless_play] t=  7.80s step= 390 trunk_z= 118.3mm grav_b=(-0.07,+0.03,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 117.1mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 114.6mm grav_b=(-0.05,-0.10,-0.99)
+[headless_play] t=  8.10s step= 405 trunk_z= 117.1mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 112.3mm grav_b=(-0.02,+0.06,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 117.8mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 113.3mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 118.1mm grav_b=(-0.04,-0.07,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 116.1mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 116.5mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 121.4mm grav_b=(-0.03,+0.10,-0.99)
+[headless_play] t=  8.90s step= 445 trunk_z= 121.1mm grav_b=(-0.04,+0.06,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 118.3mm grav_b=(-0.09,+0.00,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 121.4mm grav_b=(-0.08,-0.04,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 120.2mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 121.2mm grav_b=(-0.07,+0.08,-0.99)
+[headless_play] t=  9.40s step= 470 trunk_z= 122.6mm grav_b=(-0.06,+0.03,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 117.9mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 124.3mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 121.6mm grav_b=(-0.09,-0.05,-0.99)
+[headless_play] t=  9.80s step= 490 trunk_z= 119.8mm grav_b=(-0.09,+0.05,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 123.8mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 117.8mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 122.8mm grav_b=(-0.07,-0.06,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 121.4mm grav_b=(-0.03,-0.04,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 118.5mm grav_b=(-0.02,+0.05,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 127.8mm grav_b=(-0.02,+0.08,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 126.1mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 121.8mm grav_b=(-0.09,-0.04,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 121.9mm grav_b=(-0.12,-0.04,-0.99)
+[headless_play] t= 10.80s step= 540 trunk_z= 117.3mm grav_b=(-0.12,+0.06,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 123.1mm grav_b=(-0.12,+0.05,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 117.4mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 122.7mm grav_b=(-0.07,-0.05,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 119.2mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 123.6mm grav_b=(+0.00,+0.10,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 125.6mm grav_b=(-0.03,+0.07,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 117.6mm grav_b=(-0.08,-0.00,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 123.9mm grav_b=(-0.11,-0.04,-0.99)
+[headless_play] t= 11.70s step= 585 trunk_z= 122.5mm grav_b=(-0.11,-0.03,-0.99)
+[headless_play] t= 11.80s step= 590 trunk_z= 119.3mm grav_b=(-0.10,+0.04,-0.99)
+[headless_play] t= 11.90s step= 595 trunk_z= 124.0mm grav_b=(-0.08,+0.03,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 117.5mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 123.9mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 124.7mm grav_b=(-0.02,-0.08,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 120.1mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 121.4mm grav_b=(-0.09,+0.06,-0.99)
+[headless_play] t= 12.50s step= 625 trunk_z= 121.6mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 116.4mm grav_b=(-0.10,-0.04,-0.99)
+[headless_play] t= 12.70s step= 635 trunk_z= 123.0mm grav_b=(-0.11,-0.04,-0.99)
+[headless_play] t= 12.80s step= 640 trunk_z= 121.1mm grav_b=(-0.10,-0.02,-0.99)
+[headless_play] t= 12.90s step= 645 trunk_z= 117.3mm grav_b=(-0.09,+0.04,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 121.4mm grav_b=(-0.10,+0.03,-0.99)
+[headless_play] t= 13.10s step= 655 trunk_z= 115.9mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 119.2mm grav_b=(-0.08,-0.06,-0.99)
+[headless_play] t= 13.30s step= 665 trunk_z= 119.0mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 113.9mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 119.8mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 124.2mm grav_b=(-0.13,+0.08,-0.99)
+[headless_play] t= 13.70s step= 685 trunk_z= 114.2mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 109.1mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 107.9mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 101.0mm grav_b=(+0.06,+0.04,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 111.8mm grav_b=(+0.04,+0.05,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 109.6mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 117.3mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 118.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 110.1mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 114.2mm grav_b=(-0.00,+0.06,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 111.0mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 111.4mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 115.2mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 112.3mm grav_b=(-0.04,+0.13,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 117.5mm grav_b=(-0.03,+0.10,-0.99)
+[headless_play] t= 15.20s step= 760 trunk_z= 112.8mm grav_b=(-0.01,+0.07,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 113.8mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 117.6mm grav_b=(+0.01,-0.05,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 112.8mm grav_b=(+0.06,-0.00,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 116.0mm grav_b=(-0.01,+0.08,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 117.9mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 109.6mm grav_b=(+0.05,-0.04,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 115.3mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 112.6mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 117.3mm grav_b=(-0.03,+0.08,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 117.5mm grav_b=(-0.04,+0.02,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 113.0mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 119.6mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 114.6mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 112.3mm grav_b=(+0.01,+0.08,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 119.1mm grav_b=(+0.02,+0.13,-0.99)
+[headless_play] t= 16.80s step= 840 trunk_z= 119.4mm grav_b=(+0.04,+0.11,-0.99)
+[headless_play] t= 16.90s step= 845 trunk_z= 117.0mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 121.8mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 115.4mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.3mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 118.5mm grav_b=(-0.06,+0.04,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 116.5mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 117.7mm grav_b=(-0.09,-0.07,-0.99)
+[headless_play] t= 17.60s step= 880 trunk_z= 117.1mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 119.1mm grav_b=(-0.05,+0.11,-0.99)
+[headless_play] t= 17.80s step= 890 trunk_z= 121.8mm grav_b=(-0.06,+0.11,-0.99)
+[headless_play] t= 17.90s step= 895 trunk_z= 119.3mm grav_b=(-0.04,+0.08,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 114.0mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 120.9mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 117.7mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 117.5mm grav_b=(-0.08,+0.05,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 118.5mm grav_b=(-0.08,+0.02,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 112.7mm grav_b=(-0.08,-0.07,-0.99)
+[headless_play] t= 18.60s step= 930 trunk_z= 118.6mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 114.6mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 114.8mm grav_b=(-0.07,+0.10,-0.99)
+[headless_play] t= 18.90s step= 945 trunk_z= 123.8mm grav_b=(-0.04,+0.13,-0.99)
+[headless_play] t= 19.00s step= 950 trunk_z= 126.8mm grav_b=(-0.04,+0.13,-0.99)
+[headless_play] t= 19.10s step= 955 trunk_z= 125.9mm grav_b=(-0.06,+0.09,-0.99)
+[headless_play] t= 19.20s step= 960 trunk_z= 118.6mm grav_b=(-0.10,+0.05,-0.99)
+[headless_play] t= 19.30s step= 965 trunk_z= 123.6mm grav_b=(-0.09,+0.03,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 108.2mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 117.3mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 117.8mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 117.5mm grav_b=(-0.04,-0.07,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 117.7mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 114.7mm grav_b=(-0.05,+0.10,-0.99)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 125.2mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 116.7mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_down-t1.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  66.8mm grav_b=(+1.00,+0.00,+0.00) root_w=(-0.207,+0.105,+0.067)
+[headless_play] cam-world auto: lookat=(-0.207,+0.105,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  65.4mm grav_b=(+1.00,-0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  53.0mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t=  0.20s step=  10 trunk_z=  63.6mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  0.30s step=  15 trunk_z=  66.9mm grav_b=(+0.96,+0.05,-0.27)
+[headless_play] t=  0.40s step=  20 trunk_z=  67.3mm grav_b=(+0.96,+0.05,-0.28)
+[headless_play] t=  0.50s step=  25 trunk_z=  67.2mm grav_b=(+0.96,+0.06,-0.28)
+[headless_play] t=  0.60s step=  30 trunk_z=  67.1mm grav_b=(+0.96,+0.06,-0.28)
+[headless_play] t=  0.70s step=  35 trunk_z=  67.1mm grav_b=(+0.96,+0.07,-0.28)
+[headless_play] t=  0.80s step=  40 trunk_z=  67.7mm grav_b=(+0.96,+0.08,-0.28)
+[headless_play] t=  0.90s step=  45 trunk_z=  67.6mm grav_b=(+0.96,+0.09,-0.28)
+[headless_play] t=  1.00s step=  50 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.10s step=  55 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.20s step=  60 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.30s step=  65 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.40s step=  70 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.50s step=  75 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.60s step=  80 trunk_z=  67.5mm grav_b=(+0.96,+0.10,-0.28)
+[headless_play] t=  1.70s step=  85 trunk_z=  67.4mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  1.80s step=  90 trunk_z=  67.4mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  1.90s step=  95 trunk_z=  67.4mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  2.00s step= 100 trunk_z=  67.4mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  2.10s step= 105 trunk_z=  67.3mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  2.20s step= 110 trunk_z=  67.3mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  2.30s step= 115 trunk_z=  67.2mm grav_b=(+0.95,+0.11,-0.28)
+[headless_play] t=  2.40s step= 120 trunk_z=  67.4mm grav_b=(+0.96,+0.11,-0.27)
+[headless_play] t=  2.50s step= 125 trunk_z=  67.4mm grav_b=(+0.96,+0.11,-0.27)
+[headless_play] t=  2.60s step= 130 trunk_z=  67.4mm grav_b=(+0.95,+0.11,-0.27)
+[headless_play] t=  2.70s step= 135 trunk_z=  67.4mm grav_b=(+0.95,+0.12,-0.27)
+[headless_play] t=  2.80s step= 140 trunk_z=  67.4mm grav_b=(+0.95,+0.12,-0.27)
+[headless_play] t=  2.90s step= 145 trunk_z=  67.3mm grav_b=(+0.95,+0.12,-0.27)
+[headless_play] t=  3.00s step= 150 trunk_z=  67.3mm grav_b=(+0.95,+0.12,-0.27)
+[headless_play] t=  3.10s step= 155 trunk_z=  67.6mm grav_b=(+0.95,+0.12,-0.28)
+[headless_play] t=  3.20s step= 160 trunk_z=  67.1mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.30s step= 165 trunk_z=  67.0mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.40s step= 170 trunk_z=  66.9mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.50s step= 175 trunk_z=  66.9mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.60s step= 180 trunk_z=  66.8mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.70s step= 185 trunk_z=  66.6mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.80s step= 190 trunk_z=  66.5mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.90s step= 195 trunk_z=  66.9mm grav_b=(+0.95,+0.16,-0.27)
+[headless_play] t=  4.00s step= 200 trunk_z=  66.4mm grav_b=(+0.95,+0.17,-0.27)
+[headless_play] t=  4.10s step= 205 trunk_z=  66.2mm grav_b=(+0.95,+0.17,-0.26)
+[headless_play] t=  4.20s step= 210 trunk_z=  66.1mm grav_b=(+0.95,+0.15,-0.27)
+[headless_play] t=  4.30s step= 215 trunk_z=  66.2mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  4.40s step= 220 trunk_z=  66.4mm grav_b=(+0.96,+0.11,-0.27)
+[headless_play] t=  4.50s step= 225 trunk_z=  66.5mm grav_b=(+0.96,+0.10,-0.27)
+[headless_play] t=  4.60s step= 230 trunk_z=  66.5mm grav_b=(+0.96,+0.09,-0.27)
+[headless_play] t=  4.70s step= 235 trunk_z=  66.5mm grav_b=(+0.96,+0.07,-0.27)
+[headless_play] t=  4.80s step= 240 trunk_z=  64.4mm grav_b=(+0.95,+0.02,-0.31)
+[headless_play] t=  4.90s step= 245 trunk_z=  62.5mm grav_b=(+0.95,+0.04,-0.32)
+[headless_play] t=  5.00s step= 250 trunk_z=  62.6mm grav_b=(+0.94,+0.02,-0.33)
+[headless_play] t=  5.10s step= 255 trunk_z=  62.9mm grav_b=(+0.94,+0.03,-0.33)
+[headless_play] t=  5.20s step= 260 trunk_z=  63.2mm grav_b=(+0.94,+0.03,-0.33)
+[headless_play] t=  5.30s step= 265 trunk_z=  63.4mm grav_b=(+0.94,+0.03,-0.34)
+[headless_play] t=  5.40s step= 270 trunk_z=  63.7mm grav_b=(+0.94,+0.03,-0.34)
+[headless_play] t=  5.50s step= 275 trunk_z=  64.3mm grav_b=(+0.94,+0.01,-0.34)
+[headless_play] t=  5.60s step= 280 trunk_z=  64.5mm grav_b=(+0.94,+0.02,-0.34)
+[headless_play] t=  5.70s step= 285 trunk_z=  64.8mm grav_b=(+0.94,+0.02,-0.34)
+[headless_play] t=  5.80s step= 290 trunk_z=  65.0mm grav_b=(+0.94,+0.02,-0.35)
+[headless_play] t=  5.90s step= 295 trunk_z=  65.2mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t=  6.00s step= 300 trunk_z=  65.4mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t=  6.10s step= 305 trunk_z=  65.6mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t=  6.20s step= 310 trunk_z=  65.8mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t=  6.30s step= 315 trunk_z=  65.9mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t=  6.40s step= 320 trunk_z=  66.6mm grav_b=(+0.93,+0.03,-0.36)
+[headless_play] t=  6.50s step= 325 trunk_z=  66.7mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  6.60s step= 330 trunk_z=  66.9mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  6.70s step= 335 trunk_z=  67.0mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  6.80s step= 340 trunk_z=  67.1mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  6.90s step= 345 trunk_z=  67.2mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  7.00s step= 350 trunk_z=  67.3mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  7.10s step= 355 trunk_z=  67.8mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t=  7.20s step= 360 trunk_z=  66.1mm grav_b=(+0.96,+0.02,-0.29)
+[headless_play] t=  7.30s step= 365 trunk_z=  61.3mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t=  7.40s step= 370 trunk_z=  61.0mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  7.50s step= 375 trunk_z=  61.0mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  7.60s step= 380 trunk_z=  60.9mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  7.70s step= 385 trunk_z=  60.9mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  7.80s step= 390 trunk_z=  60.9mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  7.90s step= 395 trunk_z=  61.2mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  86.3mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  50.4mm grav_b=(+0.97,-0.03,-0.25)
+[headless_play] t=  8.20s step= 410 trunk_z=  60.0mm grav_b=(+0.96,-0.07,-0.27)
+[headless_play] t=  8.30s step= 415 trunk_z=  63.5mm grav_b=(+0.95,-0.10,-0.29)
+[headless_play] t=  8.40s step= 420 trunk_z=  63.6mm grav_b=(+0.95,-0.11,-0.29)
+[headless_play] t=  8.50s step= 425 trunk_z=  63.5mm grav_b=(+0.95,-0.12,-0.29)
+[headless_play] t=  8.60s step= 430 trunk_z=  63.5mm grav_b=(+0.95,-0.13,-0.29)
+[headless_play] t=  8.70s step= 435 trunk_z=  63.5mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  8.80s step= 440 trunk_z=  64.2mm grav_b=(+0.95,-0.14,-0.29)
+[headless_play] t=  8.90s step= 445 trunk_z=  64.2mm grav_b=(+0.95,-0.15,-0.28)
+[headless_play] t=  9.00s step= 450 trunk_z=  64.1mm grav_b=(+0.95,-0.15,-0.28)
+[headless_play] t=  9.10s step= 455 trunk_z=  64.1mm grav_b=(+0.95,-0.15,-0.29)
+[headless_play] t=  9.20s step= 460 trunk_z=  64.0mm grav_b=(+0.95,-0.15,-0.29)
+[headless_play] t=  9.30s step= 465 trunk_z=  64.0mm grav_b=(+0.95,-0.15,-0.29)
+[headless_play] t=  9.40s step= 470 trunk_z=  63.9mm grav_b=(+0.94,-0.16,-0.29)
+[headless_play] t=  9.50s step= 475 trunk_z=  64.1mm grav_b=(+0.94,-0.16,-0.29)
+[headless_play] t=  9.60s step= 480 trunk_z=  63.4mm grav_b=(+0.94,-0.17,-0.29)
+[headless_play] t=  9.70s step= 485 trunk_z=  63.2mm grav_b=(+0.94,-0.17,-0.29)
+[headless_play] t=  9.80s step= 490 trunk_z=  63.2mm grav_b=(+0.94,-0.17,-0.29)
+[headless_play] t=  9.90s step= 495 trunk_z=  63.2mm grav_b=(+0.94,-0.17,-0.29)
+[headless_play] t= 10.00s step= 500 trunk_z=  63.1mm grav_b=(+0.94,-0.18,-0.29)
+[headless_play] t= 10.10s step= 505 trunk_z=  63.1mm grav_b=(+0.94,-0.18,-0.29)
+[headless_play] t= 10.20s step= 510 trunk_z=  63.1mm grav_b=(+0.94,-0.18,-0.29)
+[headless_play] t= 10.30s step= 515 trunk_z=  63.3mm grav_b=(+0.94,-0.19,-0.29)
+[headless_play] t= 10.40s step= 520 trunk_z=  63.0mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 10.50s step= 525 trunk_z=  62.9mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 10.60s step= 530 trunk_z=  62.9mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 10.70s step= 535 trunk_z=  62.9mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 10.80s step= 540 trunk_z=  62.9mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 10.90s step= 545 trunk_z=  62.9mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 11.00s step= 550 trunk_z=  62.8mm grav_b=(+0.94,-0.19,-0.30)
+[headless_play] t= 11.10s step= 555 trunk_z=  62.8mm grav_b=(+0.94,-0.20,-0.29)
+[headless_play] t= 11.20s step= 560 trunk_z=  62.8mm grav_b=(+0.94,-0.20,-0.29)
+[headless_play] t= 11.30s step= 565 trunk_z=  62.8mm grav_b=(+0.94,-0.20,-0.29)
+[headless_play] t= 11.40s step= 570 trunk_z=  62.8mm grav_b=(+0.94,-0.20,-0.29)
+[headless_play] t= 11.50s step= 575 trunk_z=  62.8mm grav_b=(+0.94,-0.20,-0.29)
+[headless_play] t= 11.60s step= 580 trunk_z=  62.8mm grav_b=(+0.93,-0.20,-0.29)
+[headless_play] t= 11.70s step= 585 trunk_z=  62.8mm grav_b=(+0.93,-0.20,-0.29)
+[headless_play] t= 11.80s step= 590 trunk_z=  63.4mm grav_b=(+0.94,-0.21,-0.29)
+[headless_play] t= 11.90s step= 595 trunk_z=  63.4mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.00s step= 600 trunk_z=  63.4mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.10s step= 605 trunk_z=  63.4mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.20s step= 610 trunk_z=  63.4mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.30s step= 615 trunk_z=  63.3mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.40s step= 620 trunk_z=  63.3mm grav_b=(+0.93,-0.21,-0.29)
+[headless_play] t= 12.50s step= 625 trunk_z=  63.1mm grav_b=(+0.93,-0.21,-0.30)
+[headless_play] t= 12.60s step= 630 trunk_z=  63.5mm grav_b=(+0.93,-0.21,-0.30)
+[headless_play] t= 12.70s step= 635 trunk_z=  65.6mm grav_b=(+0.93,-0.18,-0.32)
+[headless_play] t= 12.80s step= 640 trunk_z=  66.1mm grav_b=(+0.93,-0.16,-0.32)
+[headless_play] t= 12.90s step= 645 trunk_z=  65.9mm grav_b=(+0.93,-0.16,-0.32)
+[headless_play] t= 13.00s step= 650 trunk_z=  65.8mm grav_b=(+0.93,-0.16,-0.32)
+[headless_play] t= 13.10s step= 655 trunk_z=  65.7mm grav_b=(+0.93,-0.16,-0.32)
+[headless_play] t= 13.20s step= 660 trunk_z=  65.8mm grav_b=(+0.93,-0.15,-0.32)
+[headless_play] t= 13.30s step= 665 trunk_z=  66.0mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.40s step= 670 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.50s step= 675 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.60s step= 680 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.70s step= 685 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.80s step= 690 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 13.90s step= 695 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.00s step= 700 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.10s step= 705 trunk_z=  66.0mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.20s step= 710 trunk_z=  66.0mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.30s step= 715 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.40s step= 720 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.50s step= 725 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.60s step= 730 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.70s step= 735 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.80s step= 740 trunk_z=  65.9mm grav_b=(+0.94,-0.15,-0.32)
+[headless_play] t= 14.90s step= 745 trunk_z=  65.9mm grav_b=(+0.94,-0.12,-0.32)
+[headless_play] t= 15.00s step= 750 trunk_z=  66.0mm grav_b=(+0.94,-0.10,-0.32)
+[headless_play] t= 15.10s step= 755 trunk_z=  66.6mm grav_b=(+0.94,-0.08,-0.33)
+[headless_play] t= 15.20s step= 760 trunk_z=  66.6mm grav_b=(+0.94,-0.08,-0.33)
+[headless_play] t= 15.30s step= 765 trunk_z=  66.5mm grav_b=(+0.94,-0.07,-0.33)
+[headless_play] t= 15.40s step= 770 trunk_z=  66.4mm grav_b=(+0.94,-0.07,-0.33)
+[headless_play] t= 15.50s step= 775 trunk_z=  66.3mm grav_b=(+0.94,-0.06,-0.33)
+[headless_play] t= 15.60s step= 780 trunk_z=  66.9mm grav_b=(+0.94,-0.06,-0.33)
+[headless_play] t= 15.70s step= 785 trunk_z=  66.7mm grav_b=(+0.94,-0.05,-0.33)
+[headless_play] t= 15.80s step= 790 trunk_z=  66.6mm grav_b=(+0.94,-0.05,-0.33)
+[headless_play] t= 15.90s step= 795 trunk_z=  66.6mm grav_b=(+0.94,-0.05,-0.33)
+[headless_play] t= 16.00s step= 800 trunk_z=  66.6mm grav_b=(+0.94,-0.05,-0.33)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  47.6mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t= 16.20s step= 810 trunk_z=  48.9mm grav_b=(+0.98,+0.01,-0.18)
+[headless_play] t= 16.30s step= 815 trunk_z=  50.3mm grav_b=(+0.98,+0.00,-0.20)
+[headless_play] t= 16.40s step= 820 trunk_z=  51.7mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t= 16.50s step= 825 trunk_z=  53.0mm grav_b=(+0.98,-0.02,-0.21)
+[headless_play] t= 16.60s step= 830 trunk_z=  54.0mm grav_b=(+0.98,-0.00,-0.21)
+[headless_play] t= 16.70s step= 835 trunk_z=  54.3mm grav_b=(+0.98,-0.01,-0.22)
+[headless_play] t= 16.80s step= 840 trunk_z=  54.7mm grav_b=(+0.98,-0.01,-0.22)
+[headless_play] t= 16.90s step= 845 trunk_z=  55.0mm grav_b=(+0.97,-0.01,-0.22)
+[headless_play] t= 17.00s step= 850 trunk_z=  57.8mm grav_b=(+0.97,+0.03,-0.22)
+[headless_play] t= 17.10s step= 855 trunk_z=  58.4mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 17.20s step= 860 trunk_z=  58.5mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 17.30s step= 865 trunk_z=  58.8mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 17.40s step= 870 trunk_z=  59.0mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 17.50s step= 875 trunk_z=  59.2mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 17.60s step= 880 trunk_z=  59.4mm grav_b=(+0.97,+0.00,-0.24)
+[headless_play] t= 17.70s step= 885 trunk_z=  59.6mm grav_b=(+0.97,+0.00,-0.24)
+[headless_play] t= 17.80s step= 890 trunk_z=  60.7mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 17.90s step= 895 trunk_z=  61.8mm grav_b=(+0.97,+0.03,-0.24)
+[headless_play] t= 18.00s step= 900 trunk_z=  61.9mm grav_b=(+0.97,+0.01,-0.24)
+[headless_play] t= 18.10s step= 905 trunk_z=  62.0mm grav_b=(+0.97,+0.01,-0.24)
+[headless_play] t= 18.20s step= 910 trunk_z=  62.1mm grav_b=(+0.97,+0.00,-0.24)
+[headless_play] t= 18.30s step= 915 trunk_z=  62.3mm grav_b=(+0.97,+0.00,-0.24)
+[headless_play] t= 18.40s step= 920 trunk_z=  63.3mm grav_b=(+0.97,+0.00,-0.25)
+[headless_play] t= 18.50s step= 925 trunk_z=  67.1mm grav_b=(+0.96,-0.01,-0.28)
+[headless_play] t= 18.60s step= 930 trunk_z=  68.8mm grav_b=(+0.95,-0.01,-0.30)
+[headless_play] t= 18.70s step= 935 trunk_z=  69.5mm grav_b=(+0.95,-0.01,-0.30)
+[headless_play] t= 18.80s step= 940 trunk_z=  71.5mm grav_b=(+0.95,+0.04,-0.29)
+[headless_play] t= 18.90s step= 945 trunk_z=  72.3mm grav_b=(+0.95,+0.05,-0.30)
+[headless_play] t= 19.00s step= 950 trunk_z=  72.5mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t= 19.10s step= 955 trunk_z=  72.6mm grav_b=(+0.95,+0.04,-0.31)
+[headless_play] t= 19.20s step= 960 trunk_z=  72.7mm grav_b=(+0.95,+0.04,-0.31)
+[headless_play] t= 19.30s step= 965 trunk_z=  72.8mm grav_b=(+0.95,+0.04,-0.31)
+[headless_play] t= 19.40s step= 970 trunk_z=  72.9mm grav_b=(+0.95,+0.04,-0.31)
+[headless_play] t= 19.50s step= 975 trunk_z=  73.2mm grav_b=(+0.95,+0.03,-0.31)
+[headless_play] t= 19.60s step= 980 trunk_z=  73.6mm grav_b=(+0.95,+0.01,-0.30)
+[headless_play] t= 19.70s step= 985 trunk_z=  72.5mm grav_b=(+0.95,-0.00,-0.32)
+[headless_play] t= 19.80s step= 990 trunk_z=  71.1mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 19.90s step= 995 trunk_z=  69.7mm grav_b=(+0.94,-0.01,-0.33)
+[headless_play] t= 20.00s step=1000 trunk_z=  69.5mm grav_b=(+0.94,-0.02,-0.34)
+[headless_play] t= 20.10s step=1005 trunk_z=  69.4mm grav_b=(+0.94,-0.05,-0.33)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_down-t2.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  64.0mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.017,+0.404,+0.064)
+[headless_play] cam-world auto: lookat=(+0.017,+0.404,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  62.6mm grav_b=(+1.00,-0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  50.2mm grav_b=(+0.97,+0.03,-0.23)
+[headless_play] t=  0.20s step=  10 trunk_z=  52.6mm grav_b=(+0.97,+0.04,-0.24)
+[headless_play] t=  0.30s step=  15 trunk_z=  52.6mm grav_b=(+0.97,+0.05,-0.24)
+[headless_play] t=  0.40s step=  20 trunk_z=  52.6mm grav_b=(+0.97,+0.07,-0.24)
+[headless_play] t=  0.50s step=  25 trunk_z=  52.7mm grav_b=(+0.97,+0.08,-0.25)
+[headless_play] t=  0.60s step=  30 trunk_z=  52.9mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t=  0.70s step=  35 trunk_z=  53.0mm grav_b=(+0.96,+0.09,-0.25)
+[headless_play] t=  0.80s step=  40 trunk_z=  53.4mm grav_b=(+0.96,+0.10,-0.25)
+[headless_play] t=  0.90s step=  45 trunk_z=  53.7mm grav_b=(+0.96,+0.10,-0.25)
+[headless_play] t=  1.00s step=  50 trunk_z=  53.8mm grav_b=(+0.96,+0.10,-0.25)
+[headless_play] t=  1.10s step=  55 trunk_z=  53.9mm grav_b=(+0.96,+0.10,-0.25)
+[headless_play] t=  1.20s step=  60 trunk_z=  54.0mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  1.30s step=  65 trunk_z=  54.1mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  1.40s step=  70 trunk_z=  54.2mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  1.50s step=  75 trunk_z=  54.3mm grav_b=(+0.96,+0.11,-0.26)
+[headless_play] t=  1.60s step=  80 trunk_z=  54.4mm grav_b=(+0.96,+0.11,-0.26)
+[headless_play] t=  1.70s step=  85 trunk_z=  54.5mm grav_b=(+0.96,+0.11,-0.26)
+[headless_play] t=  1.80s step=  90 trunk_z=  56.0mm grav_b=(+0.96,+0.09,-0.26)
+[headless_play] t=  1.90s step=  95 trunk_z=  55.9mm grav_b=(+0.96,+0.12,-0.26)
+[headless_play] t=  2.00s step= 100 trunk_z=  55.9mm grav_b=(+0.96,+0.12,-0.26)
+[headless_play] t=  2.10s step= 105 trunk_z=  55.9mm grav_b=(+0.96,+0.13,-0.26)
+[headless_play] t=  2.20s step= 110 trunk_z=  55.9mm grav_b=(+0.96,+0.13,-0.26)
+[headless_play] t=  2.30s step= 115 trunk_z=  56.0mm grav_b=(+0.96,+0.13,-0.26)
+[headless_play] t=  2.40s step= 120 trunk_z=  56.1mm grav_b=(+0.96,+0.13,-0.26)
+[headless_play] t=  2.50s step= 125 trunk_z=  56.1mm grav_b=(+0.96,+0.14,-0.26)
+[headless_play] t=  2.60s step= 130 trunk_z=  56.2mm grav_b=(+0.95,+0.14,-0.26)
+[headless_play] t=  2.70s step= 135 trunk_z=  56.3mm grav_b=(+0.95,+0.14,-0.26)
+[headless_play] t=  2.80s step= 140 trunk_z=  56.4mm grav_b=(+0.95,+0.14,-0.26)
+[headless_play] t=  2.90s step= 145 trunk_z=  56.5mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.00s step= 150 trunk_z=  56.5mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.10s step= 155 trunk_z=  56.6mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.20s step= 160 trunk_z=  56.7mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.30s step= 165 trunk_z=  56.8mm grav_b=(+0.95,+0.16,-0.26)
+[headless_play] t=  3.40s step= 170 trunk_z=  57.5mm grav_b=(+0.96,+0.14,-0.26)
+[headless_play] t=  3.50s step= 175 trunk_z=  58.7mm grav_b=(+0.95,+0.13,-0.27)
+[headless_play] t=  3.60s step= 180 trunk_z=  58.5mm grav_b=(+0.95,+0.15,-0.27)
+[headless_play] t=  3.70s step= 185 trunk_z=  58.4mm grav_b=(+0.95,+0.16,-0.28)
+[headless_play] t=  3.80s step= 190 trunk_z=  51.6mm grav_b=(+0.96,+0.16,-0.21)
+[headless_play] t=  3.90s step= 195 trunk_z=  41.2mm grav_b=(+0.97,+0.20,-0.13)
+[headless_play] t=  4.00s step= 200 trunk_z=  35.0mm grav_b=(+0.98,+0.14,-0.11)
+[headless_play] t=  4.10s step= 205 trunk_z=  33.9mm grav_b=(+0.99,+0.12,-0.10)
+[headless_play] t=  4.20s step= 210 trunk_z=  33.6mm grav_b=(+0.99,+0.11,-0.09)
+[headless_play] t=  4.30s step= 215 trunk_z=  33.3mm grav_b=(+0.99,+0.10,-0.08)
+[headless_play] t=  4.40s step= 220 trunk_z=  33.0mm grav_b=(+0.99,+0.10,-0.08)
+[headless_play] t=  4.50s step= 225 trunk_z=  32.8mm grav_b=(+0.99,+0.09,-0.07)
+[headless_play] t=  4.60s step= 230 trunk_z=  32.6mm grav_b=(+0.99,+0.09,-0.07)
+[headless_play] t=  4.70s step= 235 trunk_z=  32.4mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  4.80s step= 240 trunk_z=  32.0mm grav_b=(+1.00,+0.07,-0.06)
+[headless_play] t=  4.90s step= 245 trunk_z=  31.7mm grav_b=(+1.00,+0.06,-0.06)
+[headless_play] t=  5.00s step= 250 trunk_z=  31.5mm grav_b=(+1.00,+0.06,-0.06)
+[headless_play] t=  5.10s step= 255 trunk_z=  31.4mm grav_b=(+1.00,+0.05,-0.06)
+[headless_play] t=  5.20s step= 260 trunk_z=  31.3mm grav_b=(+1.00,+0.05,-0.06)
+[headless_play] t=  5.30s step= 265 trunk_z=  31.3mm grav_b=(+1.00,+0.05,-0.06)
+[headless_play] t=  5.40s step= 270 trunk_z=  31.2mm grav_b=(+1.00,+0.04,-0.06)
+[headless_play] t=  5.50s step= 275 trunk_z=  31.2mm grav_b=(+1.00,+0.04,-0.06)
+[headless_play] t=  5.60s step= 280 trunk_z=  31.1mm grav_b=(+1.00,+0.04,-0.06)
+[headless_play] t=  5.70s step= 285 trunk_z=  30.9mm grav_b=(+1.00,+0.04,-0.06)
+[headless_play] t=  5.80s step= 290 trunk_z=  31.9mm grav_b=(+1.00,+0.04,-0.08)
+[headless_play] t=  5.90s step= 295 trunk_z=  39.0mm grav_b=(+0.98,+0.03,-0.18)
+[headless_play] t=  6.00s step= 300 trunk_z=  40.1mm grav_b=(+0.98,+0.03,-0.20)
+[headless_play] t=  6.10s step= 305 trunk_z=  40.4mm grav_b=(+0.98,+0.03,-0.20)
+[headless_play] t=  6.20s step= 310 trunk_z=  41.1mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t=  6.30s step= 315 trunk_z=  41.5mm grav_b=(+0.98,+0.03,-0.22)
+[headless_play] t=  6.40s step= 320 trunk_z=  41.7mm grav_b=(+0.98,+0.03,-0.22)
+[headless_play] t=  6.50s step= 325 trunk_z=  42.0mm grav_b=(+0.97,+0.04,-0.22)
+[headless_play] t=  6.60s step= 330 trunk_z=  43.6mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t=  6.70s step= 335 trunk_z=  44.3mm grav_b=(+0.97,+0.03,-0.24)
+[headless_play] t=  6.80s step= 340 trunk_z=  44.4mm grav_b=(+0.97,+0.04,-0.24)
+[headless_play] t=  6.90s step= 345 trunk_z=  44.4mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.00s step= 350 trunk_z=  44.4mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.10s step= 355 trunk_z=  44.4mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.20s step= 360 trunk_z=  44.5mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.30s step= 365 trunk_z=  44.5mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.40s step= 370 trunk_z=  44.6mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.50s step= 375 trunk_z=  44.6mm grav_b=(+0.97,+0.04,-0.25)
+[headless_play] t=  7.60s step= 380 trunk_z=  44.9mm grav_b=(+0.97,+0.02,-0.25)
+[headless_play] t=  7.70s step= 385 trunk_z=  44.8mm grav_b=(+0.97,+0.03,-0.25)
+[headless_play] t=  7.80s step= 390 trunk_z=  44.8mm grav_b=(+0.97,+0.03,-0.25)
+[headless_play] t=  7.90s step= 395 trunk_z=  44.9mm grav_b=(+0.97,+0.03,-0.26)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  55.2mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  48.3mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t=  8.20s step= 410 trunk_z=  50.6mm grav_b=(+0.98,-0.04,-0.22)
+[headless_play] t=  8.30s step= 415 trunk_z=  50.6mm grav_b=(+0.97,-0.05,-0.22)
+[headless_play] t=  8.40s step= 420 trunk_z=  50.7mm grav_b=(+0.97,-0.06,-0.22)
+[headless_play] t=  8.50s step= 425 trunk_z=  50.7mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  8.60s step= 430 trunk_z=  50.7mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  8.70s step= 435 trunk_z=  50.8mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  8.80s step= 440 trunk_z=  50.8mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  8.90s step= 445 trunk_z=  50.9mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  9.00s step= 450 trunk_z=  50.9mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.10s step= 455 trunk_z=  50.9mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.20s step= 460 trunk_z=  51.0mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.30s step= 465 trunk_z=  51.0mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.40s step= 470 trunk_z=  51.0mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.50s step= 475 trunk_z=  51.0mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.60s step= 480 trunk_z=  51.1mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.70s step= 485 trunk_z=  52.5mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  9.80s step= 490 trunk_z=  53.0mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  9.90s step= 495 trunk_z=  52.9mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t= 10.00s step= 500 trunk_z=  52.9mm grav_b=(+0.97,-0.08,-0.23)
+[headless_play] t= 10.10s step= 505 trunk_z=  52.9mm grav_b=(+0.97,-0.08,-0.23)
+[headless_play] t= 10.20s step= 510 trunk_z=  52.9mm grav_b=(+0.97,-0.08,-0.23)
+[headless_play] t= 10.30s step= 515 trunk_z=  52.9mm grav_b=(+0.97,-0.08,-0.23)
+[headless_play] t= 10.40s step= 520 trunk_z=  53.7mm grav_b=(+0.97,-0.09,-0.23)
+[headless_play] t= 10.50s step= 525 trunk_z=  54.8mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 10.60s step= 530 trunk_z=  54.8mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 10.70s step= 535 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 10.80s step= 540 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 10.90s step= 545 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 11.00s step= 550 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 11.10s step= 555 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 11.20s step= 560 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 11.30s step= 565 trunk_z=  54.7mm grav_b=(+0.97,-0.10,-0.23)
+[headless_play] t= 11.40s step= 570 trunk_z=  56.1mm grav_b=(+0.97,-0.06,-0.23)
+[headless_play] t= 11.50s step= 575 trunk_z=  55.3mm grav_b=(+0.97,-0.07,-0.21)
+[headless_play] t= 11.60s step= 580 trunk_z=  54.9mm grav_b=(+0.98,-0.07,-0.21)
+[headless_play] t= 11.70s step= 585 trunk_z=  54.6mm grav_b=(+0.98,-0.08,-0.21)
+[headless_play] t= 11.80s step= 590 trunk_z=  54.3mm grav_b=(+0.98,-0.08,-0.21)
+[headless_play] t= 11.90s step= 595 trunk_z=  55.0mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.00s step= 600 trunk_z=  54.8mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 12.10s step= 605 trunk_z=  54.7mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.20s step= 610 trunk_z=  54.6mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.30s step= 615 trunk_z=  54.5mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.40s step= 620 trunk_z=  54.4mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.50s step= 625 trunk_z=  54.3mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.60s step= 630 trunk_z=  54.3mm grav_b=(+0.98,-0.08,-0.20)
+[headless_play] t= 12.70s step= 635 trunk_z=  54.2mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 12.80s step= 640 trunk_z=  54.1mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 12.90s step= 645 trunk_z=  54.0mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.00s step= 650 trunk_z=  54.0mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.10s step= 655 trunk_z=  54.0mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.20s step= 660 trunk_z=  53.9mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.30s step= 665 trunk_z=  53.9mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.40s step= 670 trunk_z=  53.8mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.50s step= 675 trunk_z=  53.8mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.60s step= 680 trunk_z=  53.8mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.70s step= 685 trunk_z=  53.7mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.80s step= 690 trunk_z=  53.7mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 13.90s step= 695 trunk_z=  53.7mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.00s step= 700 trunk_z=  53.7mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.10s step= 705 trunk_z=  53.8mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.20s step= 710 trunk_z=  53.6mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.30s step= 715 trunk_z=  53.4mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.40s step= 720 trunk_z=  53.2mm grav_b=(+0.98,-0.08,-0.19)
+[headless_play] t= 14.50s step= 725 trunk_z=  53.0mm grav_b=(+0.98,-0.08,-0.18)
+[headless_play] t= 14.60s step= 730 trunk_z=  53.0mm grav_b=(+0.98,-0.08,-0.18)
+[headless_play] t= 14.70s step= 735 trunk_z=  52.9mm grav_b=(+0.98,-0.08,-0.18)
+[headless_play] t= 14.80s step= 740 trunk_z=  52.9mm grav_b=(+0.98,-0.09,-0.18)
+[headless_play] t= 14.90s step= 745 trunk_z=  52.8mm grav_b=(+0.98,-0.09,-0.18)
+[headless_play] t= 15.00s step= 750 trunk_z=  52.8mm grav_b=(+0.98,-0.09,-0.18)
+[headless_play] t= 15.10s step= 755 trunk_z=  55.5mm grav_b=(+0.98,-0.04,-0.17)
+[headless_play] t= 15.20s step= 760 trunk_z=  54.2mm grav_b=(+0.98,-0.06,-0.17)
+[headless_play] t= 15.30s step= 765 trunk_z=  53.8mm grav_b=(+0.98,-0.06,-0.17)
+[headless_play] t= 15.40s step= 770 trunk_z=  53.4mm grav_b=(+0.98,-0.06,-0.17)
+[headless_play] t= 15.50s step= 775 trunk_z=  53.0mm grav_b=(+0.98,-0.06,-0.18)
+[headless_play] t= 15.60s step= 780 trunk_z=  52.9mm grav_b=(+0.98,-0.06,-0.18)
+[headless_play] t= 15.70s step= 785 trunk_z=  52.9mm grav_b=(+0.98,-0.05,-0.18)
+[headless_play] t= 15.80s step= 790 trunk_z=  60.5mm grav_b=(+0.98,-0.02,-0.20)
+[headless_play] t= 15.90s step= 795 trunk_z=  68.2mm grav_b=(+0.97,-0.00,-0.24)
+[headless_play] t= 16.00s step= 800 trunk_z=  68.7mm grav_b=(+0.97,-0.00,-0.24)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  42.8mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t= 16.20s step= 810 trunk_z=  36.3mm grav_b=(+0.99,+0.01,-0.10)
+[headless_play] t= 16.30s step= 815 trunk_z=  34.7mm grav_b=(+0.99,+0.02,-0.10)
+[headless_play] t= 16.40s step= 820 trunk_z=  33.3mm grav_b=(+1.00,+0.01,-0.09)
+[headless_play] t= 16.50s step= 825 trunk_z=  32.1mm grav_b=(+1.00,+0.01,-0.09)
+[headless_play] t= 16.60s step= 830 trunk_z=  31.5mm grav_b=(+1.00,+0.01,-0.08)
+[headless_play] t= 16.70s step= 835 trunk_z=  31.4mm grav_b=(+1.00,+0.01,-0.08)
+[headless_play] t= 16.80s step= 840 trunk_z=  31.4mm grav_b=(+1.00,+0.01,-0.08)
+[headless_play] t= 16.90s step= 845 trunk_z=  31.3mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.00s step= 850 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.10s step= 855 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.20s step= 860 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.30s step= 865 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.40s step= 870 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.50s step= 875 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.60s step= 880 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.70s step= 885 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.80s step= 890 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 17.90s step= 895 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 18.00s step= 900 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 18.10s step= 905 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 18.20s step= 910 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] t= 18.30s step= 915 trunk_z=  31.2mm grav_b=(+1.00,+0.02,-0.07)
+[headless_play] t= 18.40s step= 920 trunk_z=  30.8mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 18.50s step= 925 trunk_z=  30.5mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 18.60s step= 930 trunk_z=  30.2mm grav_b=(+1.00,+0.02,-0.04)
+[headless_play] t= 18.70s step= 935 trunk_z=  30.2mm grav_b=(+1.00,+0.02,-0.04)
+[headless_play] t= 18.80s step= 940 trunk_z=  30.3mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t= 18.90s step= 945 trunk_z=  30.3mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t= 19.00s step= 950 trunk_z=  30.4mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t= 19.10s step= 955 trunk_z=  30.4mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t= 19.20s step= 960 trunk_z=  30.4mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t= 19.30s step= 965 trunk_z=  30.5mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 19.40s step= 970 trunk_z=  30.5mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 19.50s step= 975 trunk_z=  30.5mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 19.60s step= 980 trunk_z=  30.6mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t= 19.70s step= 985 trunk_z=  30.6mm grav_b=(+1.00,+0.02,-0.07)
+[headless_play] t= 19.80s step= 990 trunk_z=  30.7mm grav_b=(+1.00,+0.02,-0.07)
+[headless_play] t= 19.90s step= 995 trunk_z=  30.7mm grav_b=(+1.00,+0.02,-0.07)
+[headless_play] t= 20.00s step=1000 trunk_z=  30.7mm grav_b=(+1.00,+0.02,-0.07)
+[headless_play] t= 20.10s step=1005 trunk_z=  30.8mm grav_b=(+1.00,+0.02,-0.08)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_down-t3.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  88.2mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.415,+0.400,+0.088)
+[headless_play] cam-world auto: lookat=(+0.415,+0.400,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  85.7mm grav_b=(+1.00,+0.00,-0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  49.3mm grav_b=(+0.97,+0.03,-0.22)
+[headless_play] t=  0.20s step=  10 trunk_z=  53.4mm grav_b=(+0.98,+0.04,-0.22)
+[headless_play] t=  0.30s step=  15 trunk_z=  54.7mm grav_b=(+0.97,+0.05,-0.23)
+[headless_play] t=  0.40s step=  20 trunk_z=  54.7mm grav_b=(+0.97,+0.05,-0.23)
+[headless_play] t=  0.50s step=  25 trunk_z=  54.6mm grav_b=(+0.97,+0.05,-0.23)
+[headless_play] t=  0.60s step=  30 trunk_z=  55.6mm grav_b=(+0.97,+0.07,-0.23)
+[headless_play] t=  0.70s step=  35 trunk_z=  55.6mm grav_b=(+0.97,+0.08,-0.23)
+[headless_play] t=  0.80s step=  40 trunk_z=  55.5mm grav_b=(+0.97,+0.08,-0.23)
+[headless_play] t=  0.90s step=  45 trunk_z=  55.5mm grav_b=(+0.97,+0.08,-0.23)
+[headless_play] t=  1.00s step=  50 trunk_z=  55.5mm grav_b=(+0.97,+0.08,-0.23)
+[headless_play] t=  1.10s step=  55 trunk_z=  55.5mm grav_b=(+0.97,+0.09,-0.23)
+[headless_play] t=  1.20s step=  60 trunk_z=  56.3mm grav_b=(+0.97,+0.09,-0.23)
+[headless_play] t=  1.30s step=  65 trunk_z=  56.5mm grav_b=(+0.97,+0.09,-0.23)
+[headless_play] t=  1.40s step=  70 trunk_z=  56.7mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  1.50s step=  75 trunk_z=  56.7mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  1.60s step=  80 trunk_z=  56.7mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  1.70s step=  85 trunk_z=  56.8mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  1.80s step=  90 trunk_z=  56.8mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  1.90s step=  95 trunk_z=  56.8mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  2.00s step= 100 trunk_z=  56.8mm grav_b=(+0.97,+0.09,-0.24)
+[headless_play] t=  2.10s step= 105 trunk_z=  58.3mm grav_b=(+0.97,+0.10,-0.23)
+[headless_play] t=  2.20s step= 110 trunk_z=  58.7mm grav_b=(+0.97,+0.11,-0.24)
+[headless_play] t=  2.30s step= 115 trunk_z=  59.2mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.40s step= 120 trunk_z=  59.3mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.50s step= 125 trunk_z=  59.3mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.60s step= 130 trunk_z=  59.3mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.70s step= 135 trunk_z=  59.3mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.80s step= 140 trunk_z=  59.3mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  2.90s step= 145 trunk_z=  59.2mm grav_b=(+0.96,+0.11,-0.25)
+[headless_play] t=  3.00s step= 150 trunk_z=  60.0mm grav_b=(+0.96,+0.12,-0.25)
+[headless_play] t=  3.10s step= 155 trunk_z=  60.5mm grav_b=(+0.96,+0.14,-0.25)
+[headless_play] t=  3.20s step= 160 trunk_z=  60.4mm grav_b=(+0.96,+0.14,-0.26)
+[headless_play] t=  3.30s step= 165 trunk_z=  60.6mm grav_b=(+0.96,+0.14,-0.26)
+[headless_play] t=  3.40s step= 170 trunk_z=  60.5mm grav_b=(+0.95,+0.14,-0.26)
+[headless_play] t=  3.50s step= 175 trunk_z=  60.6mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.60s step= 180 trunk_z=  60.5mm grav_b=(+0.95,+0.15,-0.26)
+[headless_play] t=  3.70s step= 185 trunk_z=  63.2mm grav_b=(+0.93,+0.23,-0.29)
+[headless_play] t=  3.80s step= 190 trunk_z=  63.2mm grav_b=(+0.93,+0.22,-0.30)
+[headless_play] t=  3.90s step= 195 trunk_z=  63.2mm grav_b=(+0.93,+0.23,-0.30)
+[headless_play] t=  4.00s step= 200 trunk_z=  63.4mm grav_b=(+0.92,+0.23,-0.30)
+[headless_play] t=  4.10s step= 205 trunk_z=  63.4mm grav_b=(+0.92,+0.23,-0.30)
+[headless_play] t=  4.20s step= 210 trunk_z=  63.5mm grav_b=(+0.92,+0.23,-0.31)
+[headless_play] t=  4.30s step= 215 trunk_z=  63.5mm grav_b=(+0.92,+0.23,-0.31)
+[headless_play] t=  4.40s step= 220 trunk_z=  65.4mm grav_b=(+0.90,+0.28,-0.33)
+[headless_play] t=  4.50s step= 225 trunk_z=  65.8mm grav_b=(+0.90,+0.27,-0.34)
+[headless_play] t=  4.60s step= 230 trunk_z=  66.0mm grav_b=(+0.90,+0.27,-0.34)
+[headless_play] t=  4.70s step= 235 trunk_z=  66.2mm grav_b=(+0.90,+0.27,-0.35)
+[headless_play] t=  4.80s step= 240 trunk_z=  66.3mm grav_b=(+0.90,+0.27,-0.35)
+[headless_play] t=  4.90s step= 245 trunk_z=  66.5mm grav_b=(+0.90,+0.25,-0.35)
+[headless_play] t=  5.00s step= 250 trunk_z=  66.6mm grav_b=(+0.90,+0.24,-0.36)
+[headless_play] t=  5.10s step= 255 trunk_z=  68.0mm grav_b=(+0.90,+0.23,-0.36)
+[headless_play] t=  5.20s step= 260 trunk_z=  68.0mm grav_b=(+0.90,+0.22,-0.36)
+[headless_play] t=  5.30s step= 265 trunk_z=  68.0mm grav_b=(+0.90,+0.22,-0.36)
+[headless_play] t=  5.40s step= 270 trunk_z=  68.0mm grav_b=(+0.90,+0.22,-0.36)
+[headless_play] t=  5.50s step= 275 trunk_z=  68.0mm grav_b=(+0.91,+0.22,-0.36)
+[headless_play] t=  5.60s step= 280 trunk_z=  68.0mm grav_b=(+0.91,+0.22,-0.37)
+[headless_play] t=  5.70s step= 285 trunk_z=  68.3mm grav_b=(+0.91,+0.22,-0.37)
+[headless_play] t=  5.80s step= 290 trunk_z=  68.2mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  5.90s step= 295 trunk_z=  68.3mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.00s step= 300 trunk_z=  68.3mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.10s step= 305 trunk_z=  68.3mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.20s step= 310 trunk_z=  68.3mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.30s step= 315 trunk_z=  68.3mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.40s step= 320 trunk_z=  68.4mm grav_b=(+0.91,+0.21,-0.37)
+[headless_play] t=  6.50s step= 325 trunk_z=  68.9mm grav_b=(+0.90,+0.21,-0.37)
+[headless_play] t=  6.60s step= 330 trunk_z=  68.9mm grav_b=(+0.90,+0.19,-0.38)
+[headless_play] t=  6.70s step= 335 trunk_z=  68.9mm grav_b=(+0.91,+0.19,-0.38)
+[headless_play] t=  6.80s step= 340 trunk_z=  68.9mm grav_b=(+0.91,+0.19,-0.38)
+[headless_play] t=  6.90s step= 345 trunk_z=  69.0mm grav_b=(+0.91,+0.19,-0.38)
+[headless_play] t=  7.00s step= 350 trunk_z=  68.9mm grav_b=(+0.91,+0.19,-0.38)
+[headless_play] t=  7.10s step= 355 trunk_z=  66.8mm grav_b=(+0.92,+0.16,-0.36)
+[headless_play] t=  7.20s step= 360 trunk_z=  65.2mm grav_b=(+0.92,+0.15,-0.35)
+[headless_play] t=  7.30s step= 365 trunk_z=  65.1mm grav_b=(+0.93,+0.14,-0.35)
+[headless_play] t=  7.40s step= 370 trunk_z=  65.3mm grav_b=(+0.93,+0.12,-0.35)
+[headless_play] t=  7.50s step= 375 trunk_z=  65.4mm grav_b=(+0.93,+0.12,-0.34)
+[headless_play] t=  7.60s step= 380 trunk_z=  65.6mm grav_b=(+0.93,+0.11,-0.34)
+[headless_play] t=  7.70s step= 385 trunk_z=  65.7mm grav_b=(+0.93,+0.10,-0.34)
+[headless_play] t=  7.80s step= 390 trunk_z=  65.8mm grav_b=(+0.93,+0.10,-0.34)
+[headless_play] t=  7.90s step= 395 trunk_z=  65.9mm grav_b=(+0.94,+0.09,-0.34)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  82.5mm grav_b=(+1.00,+0.00,-0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  42.4mm grav_b=(+0.98,+0.04,-0.18)
+[headless_play] t=  8.20s step= 410 trunk_z=  32.4mm grav_b=(+0.99,+0.07,-0.12)
+[headless_play] t=  8.30s step= 415 trunk_z=  31.8mm grav_b=(+0.99,+0.05,-0.10)
+[headless_play] t=  8.40s step= 420 trunk_z=  31.9mm grav_b=(+0.99,+0.07,-0.10)
+[headless_play] t=  8.50s step= 425 trunk_z=  31.9mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  8.60s step= 430 trunk_z=  31.8mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  8.70s step= 435 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  8.80s step= 440 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  8.90s step= 445 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.00s step= 450 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.10s step= 455 trunk_z=  31.8mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.20s step= 460 trunk_z=  31.8mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.30s step= 465 trunk_z=  32.4mm grav_b=(+0.99,+0.09,-0.08)
+[headless_play] t=  9.40s step= 470 trunk_z=  31.8mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.50s step= 475 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.60s step= 480 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.70s step= 485 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.80s step= 490 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t=  9.90s step= 495 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.00s step= 500 trunk_z=  31.8mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.10s step= 505 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.20s step= 510 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.30s step= 515 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.40s step= 520 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.50s step= 525 trunk_z=  31.7mm grav_b=(+0.99,+0.07,-0.09)
+[headless_play] t= 10.60s step= 530 trunk_z=  31.7mm grav_b=(+0.99,+0.06,-0.09)
+[headless_play] t= 10.70s step= 535 trunk_z=  31.9mm grav_b=(+0.99,+0.05,-0.11)
+[headless_play] t= 10.80s step= 540 trunk_z=  32.0mm grav_b=(+0.99,+0.06,-0.11)
+[headless_play] t= 10.90s step= 545 trunk_z=  32.0mm grav_b=(+0.99,+0.06,-0.11)
+[headless_play] t= 11.00s step= 550 trunk_z=  32.0mm grav_b=(+0.99,+0.06,-0.11)
+[headless_play] t= 11.10s step= 555 trunk_z=  32.0mm grav_b=(+0.99,+0.06,-0.11)
+[headless_play] t= 11.20s step= 560 trunk_z=  32.7mm grav_b=(+0.99,+0.06,-0.12)
+[headless_play] t= 11.30s step= 565 trunk_z=  33.6mm grav_b=(+0.99,+0.03,-0.15)
+[headless_play] t= 11.40s step= 570 trunk_z=  34.0mm grav_b=(+0.99,-0.05,-0.13)
+[headless_play] t= 11.50s step= 575 trunk_z=  34.7mm grav_b=(+0.99,-0.09,-0.12)
+[headless_play] t= 11.60s step= 580 trunk_z=  34.4mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 11.70s step= 585 trunk_z=  34.3mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 11.80s step= 590 trunk_z=  34.2mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 11.90s step= 595 trunk_z=  34.2mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 12.00s step= 600 trunk_z=  34.1mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 12.10s step= 605 trunk_z=  34.0mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 12.20s step= 610 trunk_z=  34.3mm grav_b=(+0.99,-0.07,-0.12)
+[headless_play] t= 12.30s step= 615 trunk_z=  33.9mm grav_b=(+0.99,-0.07,-0.11)
+[headless_play] t= 12.40s step= 620 trunk_z=  33.7mm grav_b=(+0.99,-0.07,-0.11)
+[headless_play] t= 12.50s step= 625 trunk_z=  33.7mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 12.60s step= 630 trunk_z=  33.6mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 12.70s step= 635 trunk_z=  33.5mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 12.80s step= 640 trunk_z=  33.6mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 12.90s step= 645 trunk_z=  33.5mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.00s step= 650 trunk_z=  33.5mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.10s step= 655 trunk_z=  33.4mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.20s step= 660 trunk_z=  33.4mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.30s step= 665 trunk_z=  33.2mm grav_b=(+0.99,-0.05,-0.11)
+[headless_play] t= 13.40s step= 670 trunk_z=  33.3mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.50s step= 675 trunk_z=  33.3mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.60s step= 680 trunk_z=  33.2mm grav_b=(+0.99,-0.06,-0.11)
+[headless_play] t= 13.70s step= 685 trunk_z=  33.3mm grav_b=(+0.99,-0.06,-0.10)
+[headless_play] t= 13.80s step= 690 trunk_z=  33.4mm grav_b=(+0.99,-0.06,-0.10)
+[headless_play] t= 13.90s step= 695 trunk_z=  33.5mm grav_b=(+0.99,-0.07,-0.10)
+[headless_play] t= 14.00s step= 700 trunk_z=  33.5mm grav_b=(+0.99,-0.07,-0.10)
+[headless_play] t= 14.10s step= 705 trunk_z=  33.5mm grav_b=(+0.99,-0.07,-0.10)
+[headless_play] t= 14.20s step= 710 trunk_z=  33.5mm grav_b=(+0.99,-0.07,-0.10)
+[headless_play] t= 14.30s step= 715 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.10)
+[headless_play] t= 14.40s step= 720 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 14.50s step= 725 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 14.60s step= 730 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 14.70s step= 735 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 14.80s step= 740 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 14.90s step= 745 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 15.00s step= 750 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 15.10s step= 755 trunk_z=  33.8mm grav_b=(+0.99,-0.08,-0.09)
+[headless_play] t= 15.20s step= 760 trunk_z=  33.9mm grav_b=(+0.99,-0.09,-0.09)
+[headless_play] t= 15.30s step= 765 trunk_z=  33.9mm grav_b=(+0.99,-0.09,-0.09)
+[headless_play] t= 15.40s step= 770 trunk_z=  33.8mm grav_b=(+0.99,-0.09,-0.09)
+[headless_play] t= 15.50s step= 775 trunk_z=  33.8mm grav_b=(+0.99,-0.09,-0.09)
+[headless_play] t= 15.60s step= 780 trunk_z=  33.8mm grav_b=(+0.99,-0.09,-0.08)
+[headless_play] t= 15.70s step= 785 trunk_z=  33.9mm grav_b=(+0.99,-0.09,-0.08)
+[headless_play] t= 15.80s step= 790 trunk_z=  33.9mm grav_b=(+0.99,-0.09,-0.08)
+[headless_play] t= 15.90s step= 795 trunk_z=  33.8mm grav_b=(+0.99,-0.09,-0.08)
+[headless_play] t= 16.00s step= 800 trunk_z=  35.3mm grav_b=(+0.99,-0.10,-0.10)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  44.6mm grav_b=(+0.99,-0.00,-0.17)
+[headless_play] t= 16.20s step= 810 trunk_z=  40.0mm grav_b=(+0.99,+0.03,-0.16)
+[headless_play] t= 16.30s step= 815 trunk_z=  38.7mm grav_b=(+0.99,+0.01,-0.17)
+[headless_play] t= 16.40s step= 820 trunk_z=  37.5mm grav_b=(+0.99,+0.01,-0.16)
+[headless_play] t= 16.50s step= 825 trunk_z=  36.7mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t= 16.60s step= 830 trunk_z=  35.6mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t= 16.70s step= 835 trunk_z=  33.9mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 16.80s step= 840 trunk_z=  32.9mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 16.90s step= 845 trunk_z=  32.4mm grav_b=(+0.99,+0.00,-0.14)
+[headless_play] t= 17.00s step= 850 trunk_z=  32.2mm grav_b=(+0.99,+0.00,-0.14)
+[headless_play] t= 17.10s step= 855 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 17.20s step= 860 trunk_z=  32.1mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 17.30s step= 865 trunk_z=  32.1mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 17.40s step= 870 trunk_z=  32.1mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 17.50s step= 875 trunk_z=  32.4mm grav_b=(+0.99,+0.00,-0.14)
+[headless_play] t= 17.60s step= 880 trunk_z=  32.2mm grav_b=(+0.99,+0.00,-0.14)
+[headless_play] t= 17.70s step= 885 trunk_z=  32.2mm grav_b=(+0.99,+0.00,-0.14)
+[headless_play] t= 17.80s step= 890 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 17.90s step= 895 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.00s step= 900 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.10s step= 905 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.20s step= 910 trunk_z=  32.2mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.30s step= 915 trunk_z=  32.3mm grav_b=(+0.99,+0.02,-0.14)
+[headless_play] t= 18.40s step= 920 trunk_z=  32.0mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.50s step= 925 trunk_z=  32.0mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.60s step= 930 trunk_z=  32.0mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 18.70s step= 935 trunk_z=  32.7mm grav_b=(+0.99,+0.00,-0.15)
+[headless_play] t= 18.80s step= 940 trunk_z=  40.7mm grav_b=(+0.97,+0.01,-0.25)
+[headless_play] t= 18.90s step= 945 trunk_z=  46.3mm grav_b=(+0.94,-0.00,-0.33)
+[headless_play] t= 19.00s step= 950 trunk_z=  46.8mm grav_b=(+0.94,+0.00,-0.34)
+[headless_play] t= 19.10s step= 955 trunk_z=  46.8mm grav_b=(+0.94,+0.00,-0.34)
+[headless_play] t= 19.20s step= 960 trunk_z=  46.8mm grav_b=(+0.94,+0.00,-0.34)
+[headless_play] t= 19.30s step= 965 trunk_z=  46.9mm grav_b=(+0.94,-0.00,-0.34)
+[headless_play] t= 19.40s step= 970 trunk_z=  46.9mm grav_b=(+0.94,-0.00,-0.34)
+[headless_play] t= 19.50s step= 975 trunk_z=  46.9mm grav_b=(+0.94,-0.00,-0.34)
+[headless_play] t= 19.60s step= 980 trunk_z=  47.1mm grav_b=(+0.94,-0.02,-0.34)
+[headless_play] t= 19.70s step= 985 trunk_z=  47.0mm grav_b=(+0.94,-0.02,-0.34)
+[headless_play] t= 19.80s step= 990 trunk_z=  47.1mm grav_b=(+0.94,-0.01,-0.34)
+[headless_play] t= 19.90s step= 995 trunk_z=  47.1mm grav_b=(+0.94,-0.01,-0.34)
+[headless_play] t= 20.00s step=1000 trunk_z=  47.2mm grav_b=(+0.94,-0.01,-0.34)
+[headless_play] t= 20.10s step=1005 trunk_z=  47.3mm grav_b=(+0.94,-0.01,-0.34)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_up-t1.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  76.5mm grav_b=(-1.00,+0.00,+0.00) root_w=(+0.401,-0.450,+0.077)
+[headless_play] cam-world auto: lookat=(+0.401,-0.450,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  74.2mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  44.1mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.60s step=  30 trunk_z=  46.2mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.90s step=  45 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.60s step=  80 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  1.70s step=  85 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.30s step= 115 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.80s step= 140 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.60s step= 180 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.03)
+[headless_play] t=  3.80s step= 190 trunk_z=  46.9mm grav_b=(-0.99,-0.10,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  48.2mm grav_b=(-1.00,-0.08,+0.04)
+[headless_play] t=  4.00s step= 200 trunk_z=  46.7mm grav_b=(-1.00,+0.05,+0.03)
+[headless_play] t=  4.10s step= 205 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.20s step= 210 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.30s step= 215 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  48.9mm grav_b=(-0.99,+0.13,+0.08)
+[headless_play] t=  4.90s step= 245 trunk_z=  47.9mm grav_b=(-0.99,+0.14,+0.01)
+[headless_play] t=  5.00s step= 250 trunk_z=  46.1mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  5.10s step= 255 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  47.4mm grav_b=(-0.98,-0.18,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  48.6mm grav_b=(-1.00,+0.08,-0.02)
+[headless_play] t=  6.40s step= 320 trunk_z=  47.6mm grav_b=(-1.00,-0.02,-0.03)
+[headless_play] t=  6.50s step= 325 trunk_z=  47.0mm grav_b=(-1.00,+0.07,+0.01)
+[headless_play] t=  6.60s step= 330 trunk_z=  46.7mm grav_b=(-1.00,+0.07,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t=  6.90s step= 345 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.80s step= 390 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  52.8mm grav_b=(-1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  45.4mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  46.1mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.70s step= 435 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.80s step= 440 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.10s step= 505 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.20s step= 510 trunk_z=  46.3mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  47.0mm grav_b=(-0.99,+0.11,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  47.5mm grav_b=(-1.00,+0.03,+0.06)
+[headless_play] t= 10.50s step= 525 trunk_z=  48.3mm grav_b=(-0.99,-0.00,+0.10)
+[headless_play] t= 10.60s step= 530 trunk_z=  48.8mm grav_b=(-0.99,+0.01,+0.12)
+[headless_play] t= 10.70s step= 535 trunk_z=  49.1mm grav_b=(-0.99,+0.01,+0.13)
+[headless_play] t= 10.80s step= 540 trunk_z=  48.5mm grav_b=(-0.99,+0.01,+0.11)
+[headless_play] t= 10.90s step= 545 trunk_z=  47.4mm grav_b=(-1.00,+0.01,+0.07)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.30s step= 565 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  46.2mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  46.3mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  46.6mm grav_b=(-1.00,-0.06,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  47.0mm grav_b=(-1.00,-0.04,+0.04)
+[headless_play] t= 12.20s step= 610 trunk_z=  48.3mm grav_b=(-1.00,-0.01,+0.10)
+[headless_play] t= 12.30s step= 615 trunk_z=  48.6mm grav_b=(-0.99,-0.01,+0.11)
+[headless_play] t= 12.40s step= 620 trunk_z=  49.5mm grav_b=(-0.99,-0.08,+0.12)
+[headless_play] t= 12.50s step= 625 trunk_z=  48.6mm grav_b=(-0.99,-0.10,+0.07)
+[headless_play] t= 12.60s step= 630 trunk_z=  49.7mm grav_b=(-0.99,-0.09,+0.12)
+[headless_play] t= 12.70s step= 635 trunk_z=  48.4mm grav_b=(-0.99,-0.10,+0.06)
+[headless_play] t= 12.80s step= 640 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 12.90s step= 645 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.10s step= 655 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  47.5mm grav_b=(-1.00,+0.00,+0.07)
+[headless_play] t= 13.30s step= 665 trunk_z=  47.6mm grav_b=(-1.00,-0.00,+0.07)
+[headless_play] t= 13.40s step= 670 trunk_z=  46.8mm grav_b=(-1.00,-0.00,+0.05)
+[headless_play] t= 13.50s step= 675 trunk_z=  45.8mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 13.60s step= 680 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 13.80s step= 690 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.40s step= 720 trunk_z=  46.8mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  46.7mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t= 14.60s step= 730 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 14.70s step= 735 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 14.80s step= 740 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  46.5mm grav_b=(-1.00,+0.06,+0.02)
+[headless_play] t= 15.00s step= 750 trunk_z=  47.0mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] t= 15.10s step= 755 trunk_z=  47.1mm grav_b=(-0.99,+0.14,+0.02)
+[headless_play] t= 15.20s step= 760 trunk_z=  46.8mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 15.40s step= 770 trunk_z=  46.5mm grav_b=(-1.00,-0.06,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.80s step= 790 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.90s step= 795 trunk_z=  46.9mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t= 16.00s step= 800 trunk_z=  47.0mm grav_b=(-0.99,+0.13,+0.02)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  46.1mm grav_b=(-1.00,-0.00,-0.01)
+[headless_play] t= 16.20s step= 810 trunk_z=  46.3mm grav_b=(-1.00,+0.01,+0.03)
+[headless_play] t= 16.30s step= 815 trunk_z=  45.8mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.60s step= 830 trunk_z=  45.7mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.70s step= 835 trunk_z=  46.5mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 16.80s step= 840 trunk_z=  46.8mm grav_b=(-1.00,-0.09,+0.02)
+[headless_play] t= 16.90s step= 845 trunk_z=  46.2mm grav_b=(-1.00,+0.04,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 17.10s step= 855 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.60s step= 880 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.10s step= 905 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.20s step= 910 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.30s step= 915 trunk_z=  47.1mm grav_b=(-0.99,+0.12,+0.02)
+[headless_play] t= 18.40s step= 920 trunk_z=  48.8mm grav_b=(-0.98,+0.20,+0.05)
+[headless_play] t= 18.50s step= 925 trunk_z=  47.2mm grav_b=(-0.99,+0.15,+0.02)
+[headless_play] t= 18.60s step= 930 trunk_z=  46.5mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 18.70s step= 935 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.80s step= 940 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 18.90s step= 945 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.10s step= 955 trunk_z=  46.4mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 19.20s step= 960 trunk_z=  47.4mm grav_b=(-0.98,+0.18,+0.02)
+[headless_play] t= 19.30s step= 965 trunk_z=  47.6mm grav_b=(-0.99,+0.17,+0.03)
+[headless_play] t= 19.40s step= 970 trunk_z=  46.9mm grav_b=(-0.99,+0.10,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 20.10s step=1005 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_up-t2.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  57.7mm grav_b=(-1.00,+0.00,+0.00) root_w=(-0.490,+0.319,+0.058)
+[headless_play] cam-world auto: lookat=(-0.490,+0.319,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  55.4mm grav_b=(-1.00,+0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  45.3mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.60s step=  30 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.90s step=  45 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  46.1mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.60s step=  80 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.70s step=  85 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.30s step= 115 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.80s step= 140 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  46.1mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  46.8mm grav_b=(-1.00,-0.01,+0.03)
+[headless_play] t=  3.60s step= 180 trunk_z=  46.8mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t=  3.70s step= 185 trunk_z=  46.3mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.00s step= 200 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.10s step= 205 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.20s step= 210 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.30s step= 215 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.90s step= 245 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.10s step= 255 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.40s step= 320 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.90s step= 345 trunk_z=  46.9mm grav_b=(-1.00,+0.05,+0.03)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.40s step= 370 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.50s step= 375 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.80s step= 390 trunk_z=  46.9mm grav_b=(-1.00,+0.10,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  46.7mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  52.9mm grav_b=(-1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  45.7mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.70s step= 435 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.80s step= 440 trunk_z=  47.2mm grav_b=(-1.00,+0.00,+0.06)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.8mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.8mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.40s step= 470 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  47.3mm grav_b=(-0.99,+0.11,+0.03)
+[headless_play] t=  9.70s step= 485 trunk_z=  48.5mm grav_b=(-0.99,+0.12,+0.07)
+[headless_play] t=  9.80s step= 490 trunk_z=  45.9mm grav_b=(-1.00,-0.02,+0.01)
+[headless_play] t=  9.90s step= 495 trunk_z=  48.3mm grav_b=(-1.00,-0.02,+0.09)
+[headless_play] t= 10.00s step= 500 trunk_z=  45.9mm grav_b=(-1.00,+0.03,+0.01)
+[headless_play] t= 10.10s step= 505 trunk_z=  46.2mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 10.20s step= 510 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.80s step= 540 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.90s step= 545 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  46.9mm grav_b=(-1.00,-0.10,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  50.4mm grav_b=(-0.99,-0.09,+0.14)
+[headless_play] t= 11.30s step= 565 trunk_z=  47.3mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.20s step= 610 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.30s step= 615 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.40s step= 620 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.60s step= 630 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.70s step= 635 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.80s step= 640 trunk_z=  46.2mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t= 12.90s step= 645 trunk_z=  46.3mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  46.0mm grav_b=(-1.00,+0.02,+0.01)
+[headless_play] t= 13.10s step= 655 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  46.0mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  46.9mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  46.6mm grav_b=(-1.00,+0.01,+0.00)
+[headless_play] t= 13.60s step= 680 trunk_z=  47.7mm grav_b=(-1.00,-0.06,+0.04)
+[headless_play] t= 13.70s step= 685 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 13.80s step= 690 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.40s step= 720 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.60s step= 730 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.70s step= 735 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.80s step= 740 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  48.9mm grav_b=(-0.98,-0.22,+0.04)
+[headless_play] t= 15.00s step= 750 trunk_z=  52.1mm grav_b=(-0.99,-0.11,+0.03)
+[headless_play] t= 15.10s step= 755 trunk_z=  48.5mm grav_b=(-1.00,-0.05,+0.03)
+[headless_play] t= 15.20s step= 760 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.40s step= 770 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  47.9mm grav_b=(-0.99,-0.10,+0.05)
+[headless_play] t= 15.80s step= 790 trunk_z=  47.7mm grav_b=(-1.00,-0.04,+0.04)
+[headless_play] t= 15.90s step= 795 trunk_z=  46.1mm grav_b=(-1.00,-0.03,+0.03)
+[headless_play] t= 16.00s step= 800 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  52.7mm grav_b=(-1.00,+0.03,+0.03)
+[headless_play] t= 16.20s step= 810 trunk_z=  45.4mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 16.30s step= 815 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.50s step= 825 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.60s step= 830 trunk_z=  46.8mm grav_b=(-1.00,-0.01,+0.05)
+[headless_play] t= 16.70s step= 835 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 16.80s step= 840 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 16.90s step= 845 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.10s step= 855 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.60s step= 880 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.10s step= 905 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.20s step= 910 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.30s step= 915 trunk_z=  46.6mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t= 18.40s step= 920 trunk_z=  46.6mm grav_b=(-1.00,-0.07,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  47.8mm grav_b=(-1.00,-0.06,+0.01)
+[headless_play] t= 18.60s step= 930 trunk_z=  47.1mm grav_b=(-1.00,-0.09,+0.03)
+[headless_play] t= 18.70s step= 935 trunk_z=  46.8mm grav_b=(-1.00,-0.06,+0.01)
+[headless_play] t= 18.80s step= 940 trunk_z=  46.6mm grav_b=(-1.00,-0.06,+0.02)
+[headless_play] t= 18.90s step= 945 trunk_z=  46.5mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 19.00s step= 950 trunk_z=  46.5mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 19.10s step= 955 trunk_z=  46.5mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 19.20s step= 960 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 19.30s step= 965 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 19.40s step= 970 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  46.2mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  46.3mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 20.10s step=1005 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-face_up-t3.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_up
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  55.3mm grav_b=(-1.00,+0.00,+0.00) root_w=(-0.033,+0.015,+0.055)
+[headless_play] cam-world auto: lookat=(-0.033,+0.015,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  52.9mm grav_b=(-1.00,-0.00,+0.01)
+[headless_play] t=  0.10s step=   5 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t=  0.20s step=  10 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.30s step=  15 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.40s step=  20 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  0.60s step=  30 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.80s step=  40 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  0.90s step=  45 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.00s step=  50 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  46.0mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  46.0mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  1.30s step=  65 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.40s step=  70 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.50s step=  75 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.60s step=  80 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.70s step=  85 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  46.4mm grav_b=(-1.00,-0.04,+0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  46.3mm grav_b=(-1.00,+0.05,+0.02)
+[headless_play] t=  2.30s step= 115 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.60s step= 130 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  2.70s step= 135 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.80s step= 140 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  3.00s step= 150 trunk_z=  46.0mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t=  3.10s step= 155 trunk_z=  46.0mm grav_b=(-1.00,+0.03,+0.02)
+[headless_play] t=  3.20s step= 160 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t=  3.30s step= 165 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.40s step= 170 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.50s step= 175 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.60s step= 180 trunk_z=  46.0mm grav_b=(-1.00,+0.00,+0.03)
+[headless_play] t=  3.70s step= 185 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.80s step= 190 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  3.90s step= 195 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.00s step= 200 trunk_z=  46.9mm grav_b=(-1.00,+0.09,+0.02)
+[headless_play] t=  4.10s step= 205 trunk_z=  48.3mm grav_b=(-0.97,+0.22,+0.04)
+[headless_play] t=  4.20s step= 210 trunk_z=  47.3mm grav_b=(-1.00,+0.06,+0.04)
+[headless_play] t=  4.30s step= 215 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.01)
+[headless_play] t=  4.40s step= 220 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  4.50s step= 225 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.60s step= 230 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.70s step= 235 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.80s step= 240 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  4.90s step= 245 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.00s step= 250 trunk_z=  46.1mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t=  5.10s step= 255 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  5.20s step= 260 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.30s step= 265 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.40s step= 270 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.50s step= 275 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.60s step= 280 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.70s step= 285 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  5.80s step= 290 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  5.90s step= 295 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.00s step= 300 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.10s step= 305 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.20s step= 310 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.30s step= 315 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.40s step= 320 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.50s step= 325 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.60s step= 330 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.70s step= 335 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  6.80s step= 340 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  6.90s step= 345 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  7.00s step= 350 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  47.2mm grav_b=(-0.99,+0.14,+0.02)
+[headless_play] t=  7.20s step= 360 trunk_z=  47.5mm grav_b=(-0.96,+0.30,+0.02)
+[headless_play] t=  7.30s step= 365 trunk_z=  48.4mm grav_b=(-0.94,+0.33,+0.04)
+[headless_play] t=  7.40s step= 370 trunk_z=  48.3mm grav_b=(-0.97,+0.22,+0.04)
+[headless_play] t=  7.50s step= 375 trunk_z=  46.1mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  7.60s step= 380 trunk_z=  46.8mm grav_b=(-1.00,-0.08,+0.02)
+[headless_play] t=  7.70s step= 385 trunk_z=  46.2mm grav_b=(-1.00,+0.04,+0.01)
+[headless_play] t=  7.80s step= 390 trunk_z=  46.1mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  7.90s step= 395 trunk_z=  45.9mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  86.8mm grav_b=(-1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  40.4mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t=  8.20s step= 410 trunk_z=  45.5mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.30s step= 415 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.40s step= 420 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.50s step= 425 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.60s step= 430 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t=  8.70s step= 435 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.80s step= 440 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  8.90s step= 445 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.00s step= 450 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.10s step= 455 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.20s step= 460 trunk_z=  47.4mm grav_b=(-0.98,-0.20,+0.02)
+[headless_play] t=  9.30s step= 465 trunk_z=  46.1mm grav_b=(-1.00,+0.02,-0.00)
+[headless_play] t=  9.40s step= 470 trunk_z=  46.5mm grav_b=(-1.00,-0.00,+0.04)
+[headless_play] t=  9.50s step= 475 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.80s step= 490 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t=  9.90s step= 495 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.00s step= 500 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.10s step= 505 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.20s step= 510 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.30s step= 515 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.40s step= 520 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.50s step= 525 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.60s step= 530 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 10.70s step= 535 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 10.80s step= 540 trunk_z=  46.2mm grav_b=(-1.00,+0.02,+0.03)
+[headless_play] t= 10.90s step= 545 trunk_z=  46.0mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 11.00s step= 550 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.10s step= 555 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.20s step= 560 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.30s step= 565 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.40s step= 570 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.50s step= 575 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.60s step= 580 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 11.70s step= 585 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.80s step= 590 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 11.90s step= 595 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.00s step= 600 trunk_z=  46.1mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t= 12.10s step= 605 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 12.20s step= 610 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.30s step= 615 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.40s step= 620 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.50s step= 625 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 12.60s step= 630 trunk_z=  46.0mm grav_b=(-1.00,+0.01,+0.02)
+[headless_play] t= 12.70s step= 635 trunk_z=  46.1mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 12.80s step= 640 trunk_z=  46.6mm grav_b=(-1.00,-0.00,+0.04)
+[headless_play] t= 12.90s step= 645 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.00s step= 650 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.10s step= 655 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.20s step= 660 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.30s step= 665 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 13.40s step= 670 trunk_z=  47.2mm grav_b=(-0.99,-0.15,+0.02)
+[headless_play] t= 13.50s step= 675 trunk_z=  50.4mm grav_b=(-0.99,-0.05,+0.13)
+[headless_play] t= 13.60s step= 680 trunk_z=  46.0mm grav_b=(-1.00,-0.03,+0.02)
+[headless_play] t= 13.70s step= 685 trunk_z=  46.8mm grav_b=(-1.00,-0.00,+0.05)
+[headless_play] t= 13.80s step= 690 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 13.90s step= 695 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 14.00s step= 700 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.10s step= 705 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.20s step= 710 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.30s step= 715 trunk_z=  46.3mm grav_b=(-1.00,-0.03,+0.03)
+[headless_play] t= 14.40s step= 720 trunk_z=  47.1mm grav_b=(-0.99,-0.14,+0.02)
+[headless_play] t= 14.50s step= 725 trunk_z=  48.7mm grav_b=(-0.99,-0.03,+0.10)
+[headless_play] t= 14.60s step= 730 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.70s step= 735 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.80s step= 740 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 14.90s step= 745 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.00s step= 750 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.10s step= 755 trunk_z=  46.6mm grav_b=(-1.00,-0.01,+0.04)
+[headless_play] t= 15.20s step= 760 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.30s step= 765 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.40s step= 770 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 15.50s step= 775 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.60s step= 780 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.70s step= 785 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 15.80s step= 790 trunk_z=  47.4mm grav_b=(-1.00,+0.08,+0.04)
+[headless_play] t= 15.90s step= 795 trunk_z=  48.6mm grav_b=(-0.97,+0.25,+0.05)
+[headless_play] t= 16.00s step= 800 trunk_z=  47.2mm grav_b=(-0.92,+0.40,+0.02)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  46.7mm grav_b=(-1.00,+0.01,+0.03)
+[headless_play] t= 16.20s step= 810 trunk_z=  45.5mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 16.30s step= 815 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.40s step= 820 trunk_z=  47.2mm grav_b=(-0.99,-0.10,+0.03)
+[headless_play] t= 16.50s step= 825 trunk_z=  49.5mm grav_b=(-0.99,-0.08,+0.07)
+[headless_play] t= 16.60s step= 830 trunk_z=  45.8mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 16.70s step= 835 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.80s step= 840 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 16.90s step= 845 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 17.00s step= 850 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.10s step= 855 trunk_z=  45.9mm grav_b=(-1.00,-0.01,+0.02)
+[headless_play] t= 17.20s step= 860 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.30s step= 865 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.40s step= 870 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.50s step= 875 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.60s step= 880 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.70s step= 885 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.80s step= 890 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 17.90s step= 895 trunk_z=  46.3mm grav_b=(-1.00,+0.02,+0.02)
+[headless_play] t= 18.00s step= 900 trunk_z=  45.9mm grav_b=(-1.00,-0.02,+0.02)
+[headless_play] t= 18.10s step= 905 trunk_z=  46.7mm grav_b=(-1.00,-0.04,+0.03)
+[headless_play] t= 18.20s step= 910 trunk_z=  46.7mm grav_b=(-1.00,-0.00,+0.05)
+[headless_play] t= 18.30s step= 915 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.40s step= 920 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.50s step= 925 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.60s step= 930 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.70s step= 935 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.80s step= 940 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 18.90s step= 945 trunk_z=  47.5mm grav_b=(-1.00,-0.08,+0.04)
+[headless_play] t= 19.00s step= 950 trunk_z=  53.0mm grav_b=(-0.99,-0.13,+0.07)
+[headless_play] t= 19.10s step= 955 trunk_z=  45.0mm grav_b=(-1.00,+0.04,+0.01)
+[headless_play] t= 19.20s step= 960 trunk_z=  46.4mm grav_b=(-1.00,-0.05,+0.02)
+[headless_play] t= 19.30s step= 965 trunk_z=  46.6mm grav_b=(-1.00,+0.00,+0.04)
+[headless_play] t= 19.40s step= 970 trunk_z=  45.8mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.50s step= 975 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.60s step= 980 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.70s step= 985 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 19.80s step= 990 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 19.90s step= 995 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  45.9mm grav_b=(-1.00,-0.00,+0.02)
+[headless_play] t= 20.10s step=1005 trunk_z=  45.9mm grav_b=(-1.00,+0.00,+0.02)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-standing-t1.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 120.4mm grav_b=(+0.00,+0.00,-1.00) root_w=(-0.133,+0.227,+0.120)
+[headless_play] cam-world auto: lookat=(-0.133,+0.227,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 117.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 118.1mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 120.3mm grav_b=(-0.08,-0.06,-0.99)
+[headless_play] t=  0.30s step=  15 trunk_z= 121.5mm grav_b=(-0.05,-0.03,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 110.3mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 122.7mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 119.1mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 122.3mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 128.8mm grav_b=(+0.05,-0.10,-0.99)
+[headless_play] t=  0.90s step=  45 trunk_z= 124.1mm grav_b=(+0.07,-0.09,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 123.8mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 123.2mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 117.9mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 126.8mm grav_b=(-0.04,-0.09,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 131.8mm grav_b=(-0.02,-0.23,-0.97)
+[headless_play] t=  1.50s step=  75 trunk_z= 130.1mm grav_b=(-0.02,-0.15,-0.99)
+[headless_play] t=  1.60s step=  80 trunk_z= 120.8mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 120.2mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 118.8mm grav_b=(-0.02,-0.08,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 123.3mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 118.7mm grav_b=(-0.05,-0.12,-0.99)
+[headless_play] t=  2.10s step= 105 trunk_z= 118.8mm grav_b=(-0.08,-0.05,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 111.8mm grav_b=(-0.00,-0.09,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 117.9mm grav_b=(+0.03,-0.09,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 120.0mm grav_b=(+0.06,-0.09,-0.99)
+[headless_play] t=  2.50s step= 125 trunk_z= 115.3mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 124.0mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 119.2mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 123.3mm grav_b=(-0.07,-0.07,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 125.0mm grav_b=(+0.03,-0.09,-0.99)
+[headless_play] t=  3.00s step= 150 trunk_z= 118.0mm grav_b=(+0.05,-0.05,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 123.7mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 121.8mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 120.0mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 123.5mm grav_b=(-0.06,-0.09,-0.99)
+[headless_play] t=  3.50s step= 175 trunk_z= 116.3mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 117.3mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 116.7mm grav_b=(-0.02,-0.03,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 116.3mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 117.5mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 118.0mm grav_b=(+0.09,-0.01,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 118.1mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 116.7mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 116.4mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 116.4mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 116.6mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 116.6mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 116.5mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 116.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 116.7mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 117.8mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.8mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 117.7mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 121.5mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 120.3mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 119.1mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 118.6mm grav_b=(-0.04,+0.01,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 118.5mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 118.4mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 118.3mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 118.3mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 118.2mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 118.2mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 119.0mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 118.6mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 118.5mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 118.4mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 118.4mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 118.3mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 118.3mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 118.3mm grav_b=(-0.04,-0.00,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 118.2mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 119.0mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 121.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 121.5mm grav_b=(-0.04,-0.09,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 118.7mm grav_b=(-0.09,-0.04,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 119.2mm grav_b=(-0.03,+0.00,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 118.2mm grav_b=(-0.09,-0.02,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 118.5mm grav_b=(-0.07,-0.02,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 117.9mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 117.9mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 118.4mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 121.4mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 123.1mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 118.6mm grav_b=(-0.07,-0.07,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 119.6mm grav_b=(-0.11,-0.08,-0.99)
+[headless_play] t=  9.30s step= 465 trunk_z= 119.5mm grav_b=(-0.08,-0.01,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 118.1mm grav_b=(-0.07,-0.04,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 118.1mm grav_b=(-0.07,-0.01,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 118.4mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 122.6mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 122.9mm grav_b=(-0.03,-0.06,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 123.2mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 120.2mm grav_b=(-0.07,-0.00,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 118.4mm grav_b=(-0.08,-0.02,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 118.5mm grav_b=(-0.07,+0.00,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 119.5mm grav_b=(-0.03,-0.02,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 121.0mm grav_b=(-0.04,-0.11,-0.99)
+[headless_play] t= 10.50s step= 525 trunk_z= 127.8mm grav_b=(-0.09,-0.12,-0.99)
+[headless_play] t= 10.60s step= 530 trunk_z= 126.2mm grav_b=(-0.11,-0.13,-0.98)
+[headless_play] t= 10.70s step= 535 trunk_z= 120.5mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 124.5mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 119.8mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 125.8mm grav_b=(-0.04,-0.06,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 127.0mm grav_b=(-0.02,-0.09,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 117.6mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 124.6mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 119.8mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 124.2mm grav_b=(-0.08,-0.08,-0.99)
+[headless_play] t= 11.60s step= 580 trunk_z= 124.4mm grav_b=(-0.09,-0.08,-0.99)
+[headless_play] t= 11.70s step= 585 trunk_z= 117.3mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 123.7mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 118.1mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 128.3mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 126.6mm grav_b=(-0.05,-0.06,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 118.6mm grav_b=(-0.06,+0.00,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 122.5mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 116.9mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 125.5mm grav_b=(-0.08,-0.08,-0.99)
+[headless_play] t= 12.60s step= 630 trunk_z= 122.8mm grav_b=(-0.08,-0.08,-0.99)
+[headless_play] t= 12.70s step= 635 trunk_z= 122.4mm grav_b=(-0.05,+0.04,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 126.4mm grav_b=(-0.03,+0.06,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 121.1mm grav_b=(-0.03,+0.01,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 119.1mm grav_b=(-0.05,-0.07,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 120.9mm grav_b=(-0.06,-0.05,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 115.5mm grav_b=(-0.04,-0.03,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 118.0mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 112.3mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 120.1mm grav_b=(-0.03,-0.07,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 118.8mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 114.6mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 118.8mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 111.2mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 120.4mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 118.6mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 116.6mm grav_b=(-0.01,+0.03,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 120.1mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 112.9mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 119.6mm grav_b=(-0.00,-0.05,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 116.6mm grav_b=(+0.00,+0.05,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 117.4mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 114.3mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 120.2mm grav_b=(+0.03,-0.08,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 117.9mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 120.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 117.6mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 114.9mm grav_b=(+0.02,-0.05,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 117.1mm grav_b=(+0.04,+0.02,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 111.0mm grav_b=(+0.01,+0.06,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 120.6mm grav_b=(-0.04,+0.05,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 117.8mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 119.5mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 112.4mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 119.5mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 115.9mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 119.7mm grav_b=(-0.06,-0.06,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 121.6mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 112.3mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 116.9mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 111.5mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 119.6mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 116.9mm grav_b=(-0.02,-0.05,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 113.6mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.9mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 118.3mm grav_b=(-0.03,-0.00,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 118.7mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 119.7mm grav_b=(-0.02,-0.07,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 112.8mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 118.4mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 115.0mm grav_b=(-0.01,-0.08,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 122.9mm grav_b=(-0.03,-0.13,-0.99)
+[headless_play] t= 18.00s step= 900 trunk_z= 123.8mm grav_b=(-0.02,-0.13,-0.99)
+[headless_play] t= 18.10s step= 905 trunk_z= 115.5mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 117.9mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 116.3mm grav_b=(+0.00,-0.08,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 118.9mm grav_b=(+0.00,-0.10,-0.99)
+[headless_play] t= 18.50s step= 925 trunk_z= 116.1mm grav_b=(+0.04,-0.07,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 116.5mm grav_b=(+0.07,+0.03,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 121.3mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 117.6mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 120.4mm grav_b=(-0.01,-0.09,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 121.4mm grav_b=(-0.02,-0.10,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 113.9mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 118.3mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 117.7mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 117.6mm grav_b=(-0.08,-0.06,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 120.7mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 102.2mm grav_b=(+0.10,+0.03,-0.99)
+[headless_play] t= 19.70s step= 985 trunk_z= 115.2mm grav_b=(+0.06,+0.08,-0.99)
+[headless_play] t= 19.80s step= 990 trunk_z= 118.4mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 115.4mm grav_b=(+0.03,-0.09,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 123.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 116.0mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-standing-t2.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 127.9mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.041,-0.199,+0.128)
+[headless_play] cam-world auto: lookat=(-0.041,-0.199,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 125.3mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 116.8mm grav_b=(+0.00,-0.06,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 122.6mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 124.2mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 119.1mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 125.0mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 121.0mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 121.5mm grav_b=(-0.01,-0.06,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 123.6mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 118.7mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  1.00s step=  50 trunk_z= 124.5mm grav_b=(-0.01,+0.04,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.0mm grav_b=(+0.01,+0.00,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 120.9mm grav_b=(+0.00,-0.03,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 117.0mm grav_b=(-0.07,+0.10,-0.99)
+[headless_play] t=  1.40s step=  70 trunk_z= 121.6mm grav_b=(-0.06,+0.07,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 120.2mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 119.5mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 120.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  1.80s step=  90 trunk_z= 122.9mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 123.4mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 118.5mm grav_b=(-0.06,-0.07,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 126.9mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 123.8mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 114.2mm grav_b=(+0.03,-0.05,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 115.2mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 120.2mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 123.0mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 119.7mm grav_b=(+0.03,+0.04,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 125.0mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 122.7mm grav_b=(+0.02,+0.05,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 120.4mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 122.6mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 117.4mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 124.4mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 120.8mm grav_b=(-0.03,+0.03,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 120.4mm grav_b=(-0.05,-0.00,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 120.2mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 120.8mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 120.5mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 115.6mm grav_b=(+0.04,-0.10,-0.99)
+[headless_play] t=  4.00s step= 200 trunk_z= 122.2mm grav_b=(+0.04,-0.08,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 121.5mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 114.6mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 118.2mm grav_b=(+0.02,+0.01,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 114.9mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  4.50s step= 225 trunk_z= 117.4mm grav_b=(+0.02,-0.09,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 120.8mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 115.8mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 120.1mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 120.6mm grav_b=(+0.08,+0.06,-0.99)
+[headless_play] t=  5.00s step= 250 trunk_z= 119.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 124.7mm grav_b=(-0.00,-0.10,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 123.8mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 116.4mm grav_b=(+0.01,-0.03,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 120.7mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 113.7mm grav_b=(+0.05,-0.06,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 123.4mm grav_b=(+0.08,-0.09,-0.99)
+[headless_play] t=  5.70s step= 285 trunk_z= 124.7mm grav_b=(+0.03,-0.06,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 121.4mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 119.2mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 117.1mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t=  6.10s step= 305 trunk_z= 121.6mm grav_b=(-0.00,-0.08,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 117.7mm grav_b=(+0.09,-0.13,-0.99)
+[headless_play] t=  6.30s step= 315 trunk_z= 117.8mm grav_b=(+0.02,+0.06,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 121.5mm grav_b=(-0.00,+0.02,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 114.5mm grav_b=(+0.01,-0.07,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 120.3mm grav_b=(+0.04,-0.09,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 117.0mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 118.3mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 115.1mm grav_b=(+0.04,-0.07,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 124.4mm grav_b=(+0.04,-0.09,-0.99)
+[headless_play] t=  7.10s step= 355 trunk_z= 119.1mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 120.0mm grav_b=(-0.04,+0.03,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 123.3mm grav_b=(-0.03,+0.02,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 113.0mm grav_b=(+0.08,-0.01,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 117.0mm grav_b=(+0.10,-0.02,-0.99)
+[headless_play] t=  7.60s step= 380 trunk_z= 117.2mm grav_b=(+0.01,+0.04,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 124.8mm grav_b=(-0.05,+0.07,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 119.7mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 118.8mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.10,-0.06,-0.99)
+[headless_play] t=  8.10s step= 405 trunk_z= 116.8mm grav_b=(+0.03,+0.07,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 125.2mm grav_b=(-0.06,+0.07,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 118.9mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 125.3mm grav_b=(-0.06,-0.09,-0.99)
+[headless_play] t=  8.50s step= 425 trunk_z= 128.2mm grav_b=(+0.07,-0.06,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 120.5mm grav_b=(+0.15,-0.05,-0.99)
+[headless_play] t=  8.70s step= 435 trunk_z= 123.8mm grav_b=(+0.09,-0.04,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 112.7mm grav_b=(+0.03,-0.08,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 115.7mm grav_b=(+0.04,-0.06,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 113.5mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 118.6mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 118.1mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 115.1mm grav_b=(+0.06,-0.08,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 116.3mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 118.1mm grav_b=(+0.01,+0.07,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 123.2mm grav_b=(+0.02,+0.04,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 113.1mm grav_b=(+0.01,+0.01,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 121.7mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 127.4mm grav_b=(-0.08,-0.07,-0.99)
+[headless_play] t= 10.00s step= 500 trunk_z= 119.1mm grav_b=(+0.13,+0.07,-0.99)
+[headless_play] t= 10.10s step= 505 trunk_z= 115.3mm grav_b=(+0.17,+0.14,-0.98)
+[headless_play] t= 10.20s step= 510 trunk_z= 124.2mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 116.0mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 118.7mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 116.1mm grav_b=(-0.03,+0.05,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 124.9mm grav_b=(-0.07,+0.06,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 122.5mm grav_b=(+0.06,+0.06,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 113.2mm grav_b=(+0.11,-0.02,-0.99)
+[headless_play] t= 10.90s step= 545 trunk_z= 115.1mm grav_b=(+0.11,-0.04,-0.99)
+[headless_play] t= 11.00s step= 550 trunk_z= 116.4mm grav_b=(+0.05,+0.04,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 122.8mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 117.9mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 117.1mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 116.0mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 114.9mm grav_b=(+0.05,+0.06,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 123.3mm grav_b=(-0.02,+0.07,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 115.1mm grav_b=(+0.03,+0.02,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 115.5mm grav_b=(+0.09,-0.05,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 116.2mm grav_b=(+0.08,-0.02,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 116.4mm grav_b=(-0.00,+0.08,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 123.9mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 115.8mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 121.9mm grav_b=(-0.01,-0.04,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 119.9mm grav_b=(-0.05,-0.02,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 121.2mm grav_b=(-0.02,+0.02,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 121.5mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 116.6mm grav_b=(+0.03,-0.07,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 124.2mm grav_b=(+0.03,-0.08,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 122.1mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 119.5mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 13.20s step= 660 trunk_z= 117.5mm grav_b=(+0.02,-0.08,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 125.6mm grav_b=(+0.00,-0.09,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 123.1mm grav_b=(-0.03,-0.08,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 120.3mm grav_b=(+0.05,-0.00,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 124.6mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 120.7mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 118.7mm grav_b=(+0.01,-0.10,-0.99)
+[headless_play] t= 13.90s step= 695 trunk_z= 125.7mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 124.0mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 14.10s step= 705 trunk_z= 125.4mm grav_b=(+0.07,+0.04,-1.00)
+[headless_play] t= 14.20s step= 710 trunk_z= 131.3mm grav_b=(+0.07,+0.05,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 132.5mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 121.8mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 126.3mm grav_b=(-0.01,-0.05,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 125.0mm grav_b=(+0.00,-0.04,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 121.1mm grav_b=(+0.03,+0.01,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 122.5mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 112.6mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 125.7mm grav_b=(+0.06,-0.15,-0.99)
+[headless_play] t= 15.10s step= 755 trunk_z= 128.2mm grav_b=(+0.03,-0.19,-0.98)
+[headless_play] t= 15.20s step= 760 trunk_z= 116.8mm grav_b=(+0.12,-0.33,-0.94)
+[headless_play] t= 15.30s step= 765 trunk_z= 114.3mm grav_b=(+0.16,-0.24,-0.96)
+[headless_play] t= 15.40s step= 770 trunk_z= 103.3mm grav_b=(-0.03,-0.15,-0.99)
+[headless_play] t= 15.50s step= 775 trunk_z= 119.6mm grav_b=(-0.05,-0.04,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 123.9mm grav_b=(-0.07,+0.08,-0.99)
+[headless_play] t= 15.70s step= 785 trunk_z= 132.3mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 128.7mm grav_b=(-0.00,+0.04,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 120.1mm grav_b=(-0.03,-0.05,-1.00)
+[headless_play] t= 16.00s step= 800 trunk_z= 123.0mm grav_b=(+0.07,-0.05,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 120.7mm grav_b=(+0.02,+0.03,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 126.2mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 120.2mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 120.5mm grav_b=(+0.01,-0.06,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 124.6mm grav_b=(-0.01,-0.03,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 119.8mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 125.5mm grav_b=(+0.00,+0.02,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 121.7mm grav_b=(+0.00,+0.01,-1.00)
+[headless_play] t= 16.90s step= 845 trunk_z= 117.5mm grav_b=(+0.02,-0.06,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 127.0mm grav_b=(+0.07,-0.10,-0.99)
+[headless_play] t= 17.10s step= 855 trunk_z= 128.2mm grav_b=(+0.04,-0.12,-0.99)
+[headless_play] t= 17.20s step= 860 trunk_z= 120.3mm grav_b=(+0.04,-0.20,-0.98)
+[headless_play] t= 17.30s step= 865 trunk_z= 115.9mm grav_b=(-0.02,-0.12,-0.99)
+[headless_play] t= 17.40s step= 870 trunk_z= 118.9mm grav_b=(-0.09,-0.12,-0.99)
+[headless_play] t= 17.50s step= 875 trunk_z= 128.1mm grav_b=(+0.00,-0.05,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 114.0mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t= 17.70s step= 885 trunk_z= 119.7mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t= 17.80s step= 890 trunk_z= 112.8mm grav_b=(+0.02,-0.03,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 118.3mm grav_b=(+0.03,+0.05,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 119.1mm grav_b=(-0.01,+0.06,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 122.8mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 113.2mm grav_b=(+0.01,-0.04,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 124.0mm grav_b=(+0.03,-0.04,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 124.0mm grav_b=(+0.02,-0.04,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 121.1mm grav_b=(-0.01,+0.02,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 124.5mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 112.6mm grav_b=(-0.04,-0.04,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 126.1mm grav_b=(-0.04,-0.05,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 128.8mm grav_b=(-0.02,-0.07,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 121.8mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 124.6mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 119.8mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 117.4mm grav_b=(+0.01,-0.09,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 116.9mm grav_b=(+0.07,-0.10,-0.99)
+[headless_play] t= 19.50s step= 975 trunk_z= 118.7mm grav_b=(+0.07,-0.05,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 121.0mm grav_b=(+0.04,+0.03,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 113.2mm grav_b=(+0.08,-0.06,-0.99)
+[headless_play] t= 19.80s step= 990 trunk_z= 122.0mm grav_b=(+0.10,-0.07,-0.99)
+[headless_play] t= 19.90s step= 995 trunk_z= 121.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] RESET at t= 19.98s step= 999 (env termination, not a recovery)
+[headless_play] t= 20.00s step=1000 trunk_z= 126.6mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 20.10s step=1005 trunk_z= 115.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-matrix-2026-09-26/twin-standing-t3.log

@@ -0,0 +1,211 @@
+[INFO]: Loading checkpoint: model_23000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: standing
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z= 128.7mm grav_b=(-0.00,-0.00,-1.00) root_w=(-0.109,+0.444,+0.129)
+[headless_play] cam-world auto: lookat=(-0.109,+0.444,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z= 126.0mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t=  0.10s step=   5 trunk_z= 115.4mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  0.20s step=  10 trunk_z= 115.6mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.30s step=  15 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.40s step=  20 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.50s step=  25 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.60s step=  30 trunk_z= 115.8mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.70s step=  35 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.80s step=  40 trunk_z= 115.7mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  0.90s step=  45 trunk_z= 117.8mm grav_b=(+0.11,-0.02,-0.99)
+[headless_play] t=  1.00s step=  50 trunk_z= 117.6mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  1.10s step=  55 trunk_z= 121.7mm grav_b=(+0.08,-0.05,-1.00)
+[headless_play] t=  1.20s step=  60 trunk_z= 117.1mm grav_b=(+0.00,+0.03,-1.00)
+[headless_play] t=  1.30s step=  65 trunk_z= 119.5mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t=  1.40s step=  70 trunk_z= 117.1mm grav_b=(-0.00,-0.03,-1.00)
+[headless_play] t=  1.50s step=  75 trunk_z= 116.9mm grav_b=(-0.00,-0.02,-1.00)
+[headless_play] t=  1.60s step=  80 trunk_z= 116.9mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  1.70s step=  85 trunk_z= 119.0mm grav_b=(+0.10,-0.03,-0.99)
+[headless_play] t=  1.80s step=  90 trunk_z= 118.9mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t=  1.90s step=  95 trunk_z= 120.5mm grav_b=(+0.04,+0.04,-1.00)
+[headless_play] t=  2.00s step= 100 trunk_z= 115.8mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t=  2.10s step= 105 trunk_z= 117.4mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  2.20s step= 110 trunk_z= 116.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  2.30s step= 115 trunk_z= 116.8mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t=  2.40s step= 120 trunk_z= 116.8mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  2.50s step= 125 trunk_z= 117.1mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  2.60s step= 130 trunk_z= 117.2mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  2.70s step= 135 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  2.80s step= 140 trunk_z= 116.9mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  2.90s step= 145 trunk_z= 116.8mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  3.00s step= 150 trunk_z= 116.8mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  3.10s step= 155 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  3.20s step= 160 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  3.30s step= 165 trunk_z= 116.7mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  3.40s step= 170 trunk_z= 117.4mm grav_b=(+0.04,-0.04,-1.00)
+[headless_play] t=  3.50s step= 175 trunk_z= 118.0mm grav_b=(+0.06,-0.04,-1.00)
+[headless_play] t=  3.60s step= 180 trunk_z= 117.8mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t=  3.70s step= 185 trunk_z= 117.1mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  3.80s step= 190 trunk_z= 116.8mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  3.90s step= 195 trunk_z= 116.7mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  4.00s step= 200 trunk_z= 116.5mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  4.10s step= 205 trunk_z= 116.8mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t=  4.20s step= 210 trunk_z= 118.4mm grav_b=(+0.06,+0.01,-1.00)
+[headless_play] t=  4.30s step= 215 trunk_z= 119.3mm grav_b=(+0.09,-0.03,-1.00)
+[headless_play] t=  4.40s step= 220 trunk_z= 121.6mm grav_b=(+0.09,-0.07,-0.99)
+[headless_play] t=  4.50s step= 225 trunk_z= 118.2mm grav_b=(+0.02,+0.02,-1.00)
+[headless_play] t=  4.60s step= 230 trunk_z= 120.2mm grav_b=(+0.00,+0.04,-1.00)
+[headless_play] t=  4.70s step= 235 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t=  4.80s step= 240 trunk_z= 117.0mm grav_b=(-0.02,-0.00,-1.00)
+[headless_play] t=  4.90s step= 245 trunk_z= 117.5mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  5.00s step= 250 trunk_z= 117.4mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  5.10s step= 255 trunk_z= 117.3mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t=  5.20s step= 260 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.30s step= 265 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.40s step= 270 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.50s step= 275 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.60s step= 280 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.70s step= 285 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.80s step= 290 trunk_z= 117.3mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t=  5.90s step= 295 trunk_z= 117.2mm grav_b=(-0.08,+0.01,-1.00)
+[headless_play] t=  6.00s step= 300 trunk_z= 117.2mm grav_b=(-0.11,+0.01,-0.99)
+[headless_play] t=  6.10s step= 305 trunk_z= 117.2mm grav_b=(-0.06,+0.05,-1.00)
+[headless_play] t=  6.20s step= 310 trunk_z= 114.8mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  6.30s step= 315 trunk_z= 116.4mm grav_b=(+0.06,+0.00,-1.00)
+[headless_play] t=  6.40s step= 320 trunk_z= 116.3mm grav_b=(+0.05,+0.01,-1.00)
+[headless_play] t=  6.50s step= 325 trunk_z= 116.0mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t=  6.60s step= 330 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t=  6.70s step= 335 trunk_z= 115.9mm grav_b=(+0.00,-0.01,-1.00)
+[headless_play] t=  6.80s step= 340 trunk_z= 116.6mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t=  6.90s step= 345 trunk_z= 116.4mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t=  7.00s step= 350 trunk_z= 116.2mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  7.10s step= 355 trunk_z= 116.2mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t=  7.20s step= 360 trunk_z= 116.2mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  7.30s step= 365 trunk_z= 116.2mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  7.40s step= 370 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  7.50s step= 375 trunk_z= 116.1mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  7.60s step= 380 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  7.70s step= 385 trunk_z= 116.0mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  7.80s step= 390 trunk_z= 116.0mm grav_b=(+0.03,-0.02,-1.00)
+[headless_play] t=  7.90s step= 395 trunk_z= 116.0mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  8.00s step= 400 trunk_z= 116.1mm grav_b=(+0.04,-0.02,-1.00)
+[headless_play] t=  8.10s step= 405 trunk_z= 116.1mm grav_b=(+0.05,-0.02,-1.00)
+[headless_play] t=  8.20s step= 410 trunk_z= 116.3mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  8.30s step= 415 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  8.40s step= 420 trunk_z= 116.1mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t=  8.50s step= 425 trunk_z= 116.1mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t=  8.60s step= 430 trunk_z= 116.1mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  8.70s step= 435 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  8.80s step= 440 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  8.90s step= 445 trunk_z= 116.0mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t=  9.00s step= 450 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  9.10s step= 455 trunk_z= 116.1mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t=  9.20s step= 460 trunk_z= 117.9mm grav_b=(+0.08,-0.06,-1.00)
+[headless_play] t=  9.30s step= 465 trunk_z= 117.5mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t=  9.40s step= 470 trunk_z= 116.8mm grav_b=(+0.04,-0.03,-1.00)
+[headless_play] t=  9.50s step= 475 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  9.60s step= 480 trunk_z= 116.2mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  9.70s step= 485 trunk_z= 116.4mm grav_b=(+0.01,-0.02,-1.00)
+[headless_play] t=  9.80s step= 490 trunk_z= 116.6mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t=  9.90s step= 495 trunk_z= 116.5mm grav_b=(-0.01,-0.02,-1.00)
+[headless_play] t= 10.00s step= 500 trunk_z= 116.0mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 10.10s step= 505 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 10.20s step= 510 trunk_z= 116.0mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 10.30s step= 515 trunk_z= 115.9mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 10.40s step= 520 trunk_z= 116.4mm grav_b=(-0.04,-0.01,-1.00)
+[headless_play] t= 10.50s step= 525 trunk_z= 116.6mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 10.60s step= 530 trunk_z= 116.1mm grav_b=(+0.01,+0.05,-1.00)
+[headless_play] t= 10.70s step= 535 trunk_z= 114.4mm grav_b=(+0.05,-0.03,-1.00)
+[headless_play] t= 10.80s step= 540 trunk_z= 114.4mm grav_b=(+0.07,-0.02,-1.00)
+[headless_play] t= 10.90s step= 545 trunk_z= 114.7mm grav_b=(+0.07,-0.01,-1.00)
+[headless_play] t= 11.00s step= 550 trunk_z= 114.9mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 11.10s step= 555 trunk_z= 115.4mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 11.20s step= 560 trunk_z= 115.8mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t= 11.30s step= 565 trunk_z= 116.2mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 11.40s step= 570 trunk_z= 116.1mm grav_b=(+0.01,-0.00,-1.00)
+[headless_play] t= 11.50s step= 575 trunk_z= 115.9mm grav_b=(-0.00,-0.00,-1.00)
+[headless_play] t= 11.60s step= 580 trunk_z= 115.9mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 11.70s step= 585 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 11.80s step= 590 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 11.90s step= 595 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 12.00s step= 600 trunk_z= 116.0mm grav_b=(-0.01,-0.00,-1.00)
+[headless_play] t= 12.10s step= 605 trunk_z= 116.4mm grav_b=(-0.06,-0.01,-1.00)
+[headless_play] t= 12.20s step= 610 trunk_z= 116.7mm grav_b=(-0.05,-0.01,-1.00)
+[headless_play] t= 12.30s step= 615 trunk_z= 116.8mm grav_b=(-0.01,-0.01,-1.00)
+[headless_play] t= 12.40s step= 620 trunk_z= 117.4mm grav_b=(-0.00,-0.01,-1.00)
+[headless_play] t= 12.50s step= 625 trunk_z= 117.0mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 12.60s step= 630 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 12.70s step= 635 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 12.80s step= 640 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 12.90s step= 645 trunk_z= 116.7mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 13.00s step= 650 trunk_z= 122.0mm grav_b=(+0.07,-0.04,-1.00)
+[headless_play] t= 13.10s step= 655 trunk_z= 125.0mm grav_b=(+0.09,-0.08,-0.99)
+[headless_play] t= 13.20s step= 660 trunk_z= 102.7mm grav_b=(+0.04,+0.06,-1.00)
+[headless_play] t= 13.30s step= 665 trunk_z= 115.8mm grav_b=(+0.03,+0.08,-1.00)
+[headless_play] t= 13.40s step= 670 trunk_z= 114.7mm grav_b=(-0.02,+0.03,-1.00)
+[headless_play] t= 13.50s step= 675 trunk_z= 116.7mm grav_b=(-0.00,+0.01,-1.00)
+[headless_play] t= 13.60s step= 680 trunk_z= 116.7mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 13.70s step= 685 trunk_z= 116.5mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t= 13.80s step= 690 trunk_z= 117.6mm grav_b=(-0.06,+0.02,-1.00)
+[headless_play] t= 13.90s step= 695 trunk_z= 117.9mm grav_b=(-0.05,+0.01,-1.00)
+[headless_play] t= 14.00s step= 700 trunk_z= 106.5mm grav_b=(+0.08,+0.06,-0.99)
+[headless_play] t= 14.10s step= 705 trunk_z= 110.8mm grav_b=(+0.13,+0.01,-0.99)
+[headless_play] t= 14.20s step= 710 trunk_z= 115.6mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 14.30s step= 715 trunk_z= 114.0mm grav_b=(+0.06,-0.01,-1.00)
+[headless_play] t= 14.40s step= 720 trunk_z= 115.0mm grav_b=(-0.03,-0.03,-1.00)
+[headless_play] t= 14.50s step= 725 trunk_z= 115.3mm grav_b=(-0.03,-0.01,-1.00)
+[headless_play] t= 14.60s step= 730 trunk_z= 115.4mm grav_b=(-0.02,-0.02,-1.00)
+[headless_play] t= 14.70s step= 735 trunk_z= 115.2mm grav_b=(+0.03,-0.01,-1.00)
+[headless_play] t= 14.80s step= 740 trunk_z= 115.9mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 14.90s step= 745 trunk_z= 116.1mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 15.00s step= 750 trunk_z= 116.2mm grav_b=(+0.05,-0.01,-1.00)
+[headless_play] t= 15.10s step= 755 trunk_z= 116.2mm grav_b=(+0.02,+0.00,-1.00)
+[headless_play] t= 15.20s step= 760 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t= 15.30s step= 765 trunk_z= 115.9mm grav_b=(+0.02,-0.00,-1.00)
+[headless_play] t= 15.40s step= 770 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 15.50s step= 775 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 15.60s step= 780 trunk_z= 115.9mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 15.70s step= 785 trunk_z= 115.8mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 15.80s step= 790 trunk_z= 116.3mm grav_b=(+0.04,-0.01,-1.00)
+[headless_play] t= 15.90s step= 795 trunk_z= 119.0mm grav_b=(+0.14,-0.01,-0.99)
+[headless_play] t= 16.00s step= 800 trunk_z= 119.7mm grav_b=(+0.06,-0.03,-1.00)
+[headless_play] t= 16.10s step= 805 trunk_z= 116.2mm grav_b=(+0.02,-0.07,-1.00)
+[headless_play] t= 16.20s step= 810 trunk_z= 120.6mm grav_b=(+0.03,-0.03,-1.00)
+[headless_play] t= 16.30s step= 815 trunk_z= 117.4mm grav_b=(-0.05,+0.02,-1.00)
+[headless_play] t= 16.40s step= 820 trunk_z= 117.8mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] t= 16.50s step= 825 trunk_z= 116.5mm grav_b=(+0.00,-0.02,-1.00)
+[headless_play] t= 16.60s step= 830 trunk_z= 116.4mm grav_b=(+0.01,-0.01,-1.00)
+[headless_play] t= 16.70s step= 835 trunk_z= 117.7mm grav_b=(+0.07,-0.03,-1.00)
+[headless_play] t= 16.80s step= 840 trunk_z= 119.2mm grav_b=(+0.13,-0.02,-0.99)
+[headless_play] t= 16.90s step= 845 trunk_z= 116.9mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t= 17.00s step= 850 trunk_z= 120.9mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t= 17.10s step= 855 trunk_z= 115.1mm grav_b=(-0.01,+0.01,-1.00)
+[headless_play] t= 17.20s step= 860 trunk_z= 116.5mm grav_b=(-0.02,+0.00,-1.00)
+[headless_play] t= 17.30s step= 865 trunk_z= 116.6mm grav_b=(-0.01,+0.00,-1.00)
+[headless_play] t= 17.40s step= 870 trunk_z= 117.9mm grav_b=(+0.05,+0.02,-1.00)
+[headless_play] t= 17.50s step= 875 trunk_z= 119.1mm grav_b=(+0.09,+0.01,-1.00)
+[headless_play] t= 17.60s step= 880 trunk_z= 119.9mm grav_b=(+0.12,+0.00,-0.99)
+[headless_play] t= 17.70s step= 885 trunk_z= 120.8mm grav_b=(+0.13,-0.00,-0.99)
+[headless_play] t= 17.80s step= 890 trunk_z= 120.9mm grav_b=(+0.06,-0.02,-1.00)
+[headless_play] t= 17.90s step= 895 trunk_z= 116.9mm grav_b=(-0.00,-0.07,-1.00)
+[headless_play] t= 18.00s step= 900 trunk_z= 118.9mm grav_b=(-0.02,-0.04,-1.00)
+[headless_play] t= 18.10s step= 905 trunk_z= 117.1mm grav_b=(-0.07,+0.01,-1.00)
+[headless_play] t= 18.20s step= 910 trunk_z= 117.6mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 18.30s step= 915 trunk_z= 117.9mm grav_b=(-0.02,-0.01,-1.00)
+[headless_play] t= 18.40s step= 920 trunk_z= 117.0mm grav_b=(-0.09,-0.00,-1.00)
+[headless_play] t= 18.50s step= 925 trunk_z= 116.5mm grav_b=(-0.05,+0.03,-1.00)
+[headless_play] t= 18.60s step= 930 trunk_z= 116.7mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t= 18.70s step= 935 trunk_z= 116.0mm grav_b=(+0.02,-0.02,-1.00)
+[headless_play] t= 18.80s step= 940 trunk_z= 116.0mm grav_b=(+0.02,-0.01,-1.00)
+[headless_play] t= 18.90s step= 945 trunk_z= 116.3mm grav_b=(+0.01,+0.03,-1.00)
+[headless_play] t= 19.00s step= 950 trunk_z= 118.5mm grav_b=(+0.04,+0.07,-1.00)
+[headless_play] t= 19.10s step= 955 trunk_z= 122.8mm grav_b=(+0.05,+0.03,-1.00)
+[headless_play] t= 19.20s step= 960 trunk_z= 117.5mm grav_b=(+0.03,+0.03,-1.00)
+[headless_play] t= 19.30s step= 965 trunk_z= 122.5mm grav_b=(+0.05,+0.00,-1.00)
+[headless_play] t= 19.40s step= 970 trunk_z= 121.9mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t= 19.50s step= 975 trunk_z= 123.3mm grav_b=(-0.00,+0.07,-1.00)
+[headless_play] t= 19.60s step= 980 trunk_z= 124.8mm grav_b=(-0.00,+0.03,-1.00)
+[headless_play] t= 19.70s step= 985 trunk_z= 115.8mm grav_b=(-0.04,-0.02,-1.00)
+[headless_play] t= 19.80s step= 990 trunk_z= 123.7mm grav_b=(-0.05,-0.05,-1.00)
+[headless_play] t= 19.90s step= 995 trunk_z= 122.1mm grav_b=(-0.04,-0.02,-1.00)
+[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)
+[headless_play] t= 20.10s step=1005 trunk_z= 116.6mm grav_b=(-0.02,+0.01,-1.00)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-ref-2026-09-26/seed-face_down-t1.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  59.3mm grav_b=(+1.00,+0.00,-0.00) root_w=(-0.033,-0.393,+0.059)
+[headless_play] cam-world auto: lookat=(-0.033,-0.393,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  58.8mm grav_b=(+1.00,-0.00,-0.04)
+[headless_play] t=  0.10s step=   5 trunk_z=  46.9mm grav_b=(+0.99,-0.01,-0.13)
+[headless_play] t=  0.20s step=  10 trunk_z=  47.7mm grav_b=(+1.00,-0.05,-0.08)
+[headless_play] t=  0.30s step=  15 trunk_z=  47.1mm grav_b=(+1.00,-0.06,-0.05)
+[headless_play] t=  0.40s step=  20 trunk_z=  46.2mm grav_b=(+1.00,-0.06,-0.04)
+[headless_play] t=  0.50s step=  25 trunk_z=  45.0mm grav_b=(+1.00,-0.06,-0.03)
+[headless_play] t=  0.60s step=  30 trunk_z=  43.8mm grav_b=(+1.00,-0.06,-0.02)
+[headless_play] t=  0.70s step=  35 trunk_z=  42.5mm grav_b=(+1.00,-0.06,-0.01)
+[headless_play] t=  0.80s step=  40 trunk_z=  41.2mm grav_b=(+1.00,-0.06,-0.00)
+[headless_play] t=  0.90s step=  45 trunk_z=  39.4mm grav_b=(+1.00,-0.06,+0.00)
+[headless_play] t=  1.00s step=  50 trunk_z=  37.5mm grav_b=(+1.00,-0.06,+0.02)
+[headless_play] t=  1.10s step=  55 trunk_z=  36.4mm grav_b=(+1.00,-0.06,+0.02)
+[headless_play] t=  1.20s step=  60 trunk_z=  35.3mm grav_b=(+1.00,-0.06,+0.03)
+[headless_play] t=  1.30s step=  65 trunk_z=  34.1mm grav_b=(+1.00,-0.06,+0.03)
+[headless_play] t=  1.40s step=  70 trunk_z=  33.4mm grav_b=(+1.00,-0.06,+0.03)
+[headless_play] t=  1.50s step=  75 trunk_z=  32.5mm grav_b=(+1.00,-0.04,+0.03)
+[headless_play] t=  1.60s step=  80 trunk_z=  31.4mm grav_b=(+1.00,-0.05,+0.03)
+[headless_play] t=  1.70s step=  85 trunk_z=  30.8mm grav_b=(+1.00,-0.05,+0.03)
+[headless_play] t=  1.80s step=  90 trunk_z=  30.2mm grav_b=(+1.00,-0.05,+0.03)
+[headless_play] t=  1.90s step=  95 trunk_z=  29.4mm grav_b=(+1.00,-0.05,+0.04)
+[headless_play] t=  2.00s step= 100 trunk_z=  29.2mm grav_b=(+1.00,-0.05,+0.04)
+[headless_play] t=  2.10s step= 105 trunk_z=  29.2mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.20s step= 110 trunk_z=  28.9mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.30s step= 115 trunk_z=  29.1mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.40s step= 120 trunk_z=  29.1mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.50s step= 125 trunk_z=  29.1mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.60s step= 130 trunk_z=  29.1mm grav_b=(+1.00,-0.04,+0.04)
+[headless_play] t=  2.70s step= 135 trunk_z=  28.8mm grav_b=(+1.00,-0.02,+0.04)
+[headless_play] t=  2.80s step= 140 trunk_z=  28.5mm grav_b=(+1.00,-0.02,+0.06)
+[headless_play] t=  2.90s step= 145 trunk_z=  28.4mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.00s step= 150 trunk_z=  28.5mm grav_b=(+1.00,-0.03,+0.07)
+[headless_play] t=  3.10s step= 155 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.20s step= 160 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.30s step= 165 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.40s step= 170 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.50s step= 175 trunk_z=  28.3mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  3.60s step= 180 trunk_z=  29.2mm grav_b=(+1.00,+0.01,+0.08)
+[headless_play] t=  3.70s step= 185 trunk_z=  29.0mm grav_b=(+1.00,+0.00,+0.07)
+[headless_play] t=  3.80s step= 190 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  3.90s step= 195 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.00s step= 200 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.10s step= 205 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.20s step= 210 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.30s step= 215 trunk_z=  28.9mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.40s step= 220 trunk_z=  28.5mm grav_b=(+1.00,-0.02,+0.07)
+[headless_play] t=  4.50s step= 225 trunk_z=  28.6mm grav_b=(+1.00,-0.01,+0.07)
+[headless_play] t=  4.60s step= 230 trunk_z=  28.7mm grav_b=(+1.00,-0.01,+0.07)
+[headless_play] t=  4.70s step= 235 trunk_z=  28.7mm grav_b=(+1.00,-0.01,+0.07)
+[headless_play] t=  4.80s step= 240 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  4.90s step= 245 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  5.00s step= 250 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  5.10s step= 255 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  5.20s step= 260 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  5.30s step= 265 trunk_z=  28.8mm grav_b=(+1.00,-0.00,+0.07)
+[headless_play] t=  5.40s step= 270 trunk_z=  29.2mm grav_b=(+1.00,+0.01,+0.06)
+[headless_play] t=  5.50s step= 275 trunk_z=  29.7mm grav_b=(+1.00,+0.01,+0.06)
+[headless_play] t=  5.60s step= 280 trunk_z=  40.5mm grav_b=(+1.00,-0.03,-0.01)
+[headless_play] t=  5.70s step= 285 trunk_z=  54.0mm grav_b=(+0.99,-0.06,-0.12)
+[headless_play] t=  5.80s step= 290 trunk_z=  56.9mm grav_b=(+0.99,-0.05,-0.15)
+[headless_play] t=  5.90s step= 295 trunk_z=  57.6mm grav_b=(+0.99,-0.05,-0.16)
+[headless_play] t=  6.00s step= 300 trunk_z=  58.7mm grav_b=(+0.98,-0.04,-0.17)
+[headless_play] t=  6.10s step= 305 trunk_z=  59.7mm grav_b=(+0.98,-0.03,-0.18)
+[headless_play] t=  6.20s step= 310 trunk_z=  61.4mm grav_b=(+0.98,-0.03,-0.19)
+[headless_play] t=  6.30s step= 315 trunk_z=  64.0mm grav_b=(+0.98,-0.00,-0.19)
+[headless_play] t=  6.40s step= 320 trunk_z=  64.3mm grav_b=(+0.98,-0.05,-0.20)
+[headless_play] t=  6.50s step= 325 trunk_z=  64.8mm grav_b=(+0.98,-0.05,-0.21)
+[headless_play] t=  6.60s step= 330 trunk_z=  65.1mm grav_b=(+0.97,-0.06,-0.22)
+[headless_play] t=  6.70s step= 335 trunk_z=  65.5mm grav_b=(+0.97,-0.07,-0.22)
+[headless_play] t=  6.80s step= 340 trunk_z=  65.8mm grav_b=(+0.97,-0.07,-0.23)
+[headless_play] t=  6.90s step= 345 trunk_z=  69.9mm grav_b=(+0.96,-0.15,-0.25)
+[headless_play] t=  7.00s step= 350 trunk_z=  69.7mm grav_b=(+0.96,-0.13,-0.24)
+[headless_play] t=  7.10s step= 355 trunk_z=  70.9mm grav_b=(+0.95,-0.17,-0.27)
+[headless_play] t=  7.20s step= 360 trunk_z=  71.5mm grav_b=(+0.94,-0.21,-0.28)
+[headless_play] t=  7.30s step= 365 trunk_z=  71.5mm grav_b=(+0.94,-0.21,-0.28)
+[headless_play] t=  7.40s step= 370 trunk_z=  72.0mm grav_b=(+0.94,-0.22,-0.27)
+[headless_play] t=  7.50s step= 375 trunk_z=  72.8mm grav_b=(+0.93,-0.24,-0.28)
+[headless_play] t=  7.60s step= 380 trunk_z=  73.0mm grav_b=(+0.93,-0.26,-0.27)
+[headless_play] t=  7.70s step= 385 trunk_z=  72.8mm grav_b=(+0.93,-0.26,-0.27)
+[headless_play] t=  7.80s step= 390 trunk_z=  73.2mm grav_b=(+0.92,-0.27,-0.28)
+[headless_play] t=  7.90s step= 395 trunk_z=  77.0mm grav_b=(+0.94,-0.19,-0.29)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  83.7mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  52.0mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t=  8.20s step= 410 trunk_z=  53.7mm grav_b=(+0.99,+0.02,-0.17)
+[headless_play] t=  8.30s step= 415 trunk_z=  54.2mm grav_b=(+0.98,+0.03,-0.17)
+[headless_play] t=  8.40s step= 420 trunk_z=  54.5mm grav_b=(+0.98,+0.03,-0.17)
+[headless_play] t=  8.50s step= 425 trunk_z=  55.4mm grav_b=(+0.98,+0.01,-0.18)
+[headless_play] t=  8.60s step= 430 trunk_z=  56.4mm grav_b=(+0.98,+0.01,-0.18)
+[headless_play] t=  8.70s step= 435 trunk_z=  56.6mm grav_b=(+0.98,+0.02,-0.18)
+[headless_play] t=  8.80s step= 440 trunk_z=  56.8mm grav_b=(+0.98,+0.02,-0.18)
+[headless_play] t=  8.90s step= 445 trunk_z=  56.9mm grav_b=(+0.98,+0.03,-0.18)
+[headless_play] t=  9.00s step= 450 trunk_z=  57.1mm grav_b=(+0.98,+0.03,-0.18)
+[headless_play] t=  9.10s step= 455 trunk_z=  59.0mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.20s step= 460 trunk_z=  59.0mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.30s step= 465 trunk_z=  59.1mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.40s step= 470 trunk_z=  59.2mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.50s step= 475 trunk_z=  59.3mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.60s step= 480 trunk_z=  59.3mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.70s step= 485 trunk_z=  59.4mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.80s step= 490 trunk_z=  59.5mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t=  9.90s step= 495 trunk_z=  60.0mm grav_b=(+0.98,+0.03,-0.20)
+[headless_play] t= 10.00s step= 500 trunk_z=  59.9mm grav_b=(+0.98,+0.04,-0.20)
+[headless_play] t= 10.10s step= 505 trunk_z=  59.9mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 10.20s step= 510 trunk_z=  60.0mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 10.30s step= 515 trunk_z=  60.0mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 10.40s step= 520 trunk_z=  60.8mm grav_b=(+0.98,+0.02,-0.21)
+[headless_play] t= 10.50s step= 525 trunk_z=  61.1mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 10.60s step= 530 trunk_z=  61.0mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 10.70s step= 535 trunk_z=  60.9mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 10.80s step= 540 trunk_z=  61.0mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 10.90s step= 545 trunk_z=  61.0mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 11.00s step= 550 trunk_z=  61.0mm grav_b=(+0.98,+0.04,-0.21)
+[headless_play] t= 11.10s step= 555 trunk_z=  62.1mm grav_b=(+0.97,+0.08,-0.21)
+[headless_play] t= 11.20s step= 560 trunk_z=  62.6mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 11.30s step= 565 trunk_z=  62.1mm grav_b=(+0.97,+0.04,-0.22)
+[headless_play] t= 11.40s step= 570 trunk_z=  61.7mm grav_b=(+0.97,+0.03,-0.22)
+[headless_play] t= 11.50s step= 575 trunk_z=  61.5mm grav_b=(+0.97,+0.03,-0.22)
+[headless_play] t= 11.60s step= 580 trunk_z=  61.5mm grav_b=(+0.97,+0.02,-0.22)
+[headless_play] t= 11.70s step= 585 trunk_z=  62.8mm grav_b=(+0.97,+0.05,-0.22)
+[headless_play] t= 11.80s step= 590 trunk_z=  62.2mm grav_b=(+0.97,+0.03,-0.23)
+[headless_play] t= 11.90s step= 595 trunk_z=  61.8mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 12.00s step= 600 trunk_z=  61.6mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 12.10s step= 605 trunk_z=  61.6mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 12.20s step= 610 trunk_z=  61.5mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 12.30s step= 615 trunk_z=  61.5mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 12.40s step= 620 trunk_z=  63.8mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 12.50s step= 625 trunk_z=  69.4mm grav_b=(+0.96,+0.06,-0.26)
+[headless_play] t= 12.60s step= 630 trunk_z=  72.6mm grav_b=(+0.96,+0.03,-0.28)
+[headless_play] t= 12.70s step= 635 trunk_z=  73.0mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t= 12.80s step= 640 trunk_z=  73.2mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t= 12.90s step= 645 trunk_z=  73.3mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t= 13.00s step= 650 trunk_z=  73.3mm grav_b=(+0.96,+0.03,-0.29)
+[headless_play] t= 13.10s step= 655 trunk_z=  74.5mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.20s step= 660 trunk_z=  74.7mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.30s step= 665 trunk_z=  74.7mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.40s step= 670 trunk_z=  74.7mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.50s step= 675 trunk_z=  74.6mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.60s step= 680 trunk_z=  74.6mm grav_b=(+0.96,+0.01,-0.29)
+[headless_play] t= 13.70s step= 685 trunk_z=  74.6mm grav_b=(+0.96,+0.00,-0.29)
+[headless_play] t= 13.80s step= 690 trunk_z=  75.0mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 13.90s step= 695 trunk_z=  74.9mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 14.00s step= 700 trunk_z=  74.9mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 14.10s step= 705 trunk_z=  74.8mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 14.20s step= 710 trunk_z=  74.8mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t= 14.30s step= 715 trunk_z=  74.8mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t= 14.40s step= 720 trunk_z=  74.8mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t= 14.50s step= 725 trunk_z=  74.8mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t= 14.60s step= 730 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.30)
+[headless_play] t= 14.70s step= 735 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 14.80s step= 740 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 14.90s step= 745 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 15.00s step= 750 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 15.10s step= 755 trunk_z=  74.7mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 15.20s step= 760 trunk_z=  73.9mm grav_b=(+0.96,-0.01,-0.29)
+[headless_play] t= 15.30s step= 765 trunk_z=  67.1mm grav_b=(+0.97,-0.00,-0.24)
+[headless_play] t= 15.40s step= 770 trunk_z=  63.0mm grav_b=(+0.98,+0.00,-0.22)
+[headless_play] t= 15.50s step= 775 trunk_z=  62.9mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 15.60s step= 780 trunk_z=  63.5mm grav_b=(+0.98,+0.03,-0.22)
+[headless_play] t= 15.70s step= 785 trunk_z=  64.1mm grav_b=(+0.97,+0.03,-0.22)
+[headless_play] t= 15.80s step= 790 trunk_z=  64.0mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 15.90s step= 795 trunk_z=  63.9mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 16.00s step= 800 trunk_z=  64.0mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  50.5mm grav_b=(+0.98,-0.03,-0.20)
+[headless_play] t= 16.20s step= 810 trunk_z=  56.8mm grav_b=(+0.97,-0.13,-0.18)
+[headless_play] t= 16.30s step= 815 trunk_z=  60.3mm grav_b=(+0.97,-0.18,-0.18)
+[headless_play] t= 16.40s step= 820 trunk_z=  58.9mm grav_b=(+0.96,-0.20,-0.17)
+[headless_play] t= 16.50s step= 825 trunk_z=  57.7mm grav_b=(+0.96,-0.22,-0.17)
+[headless_play] t= 16.60s step= 830 trunk_z=  57.4mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 16.70s step= 835 trunk_z=  57.2mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 16.80s step= 840 trunk_z=  57.0mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 16.90s step= 845 trunk_z=  56.9mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 17.00s step= 850 trunk_z=  56.7mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 17.10s step= 855 trunk_z=  56.6mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 17.20s step= 860 trunk_z=  56.5mm grav_b=(+0.95,-0.27,-0.16)
+[headless_play] t= 17.30s step= 865 trunk_z=  56.4mm grav_b=(+0.95,-0.27,-0.16)
+[headless_play] t= 17.40s step= 870 trunk_z=  56.3mm grav_b=(+0.95,-0.27,-0.16)
+[headless_play] t= 17.50s step= 875 trunk_z=  56.4mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 17.60s step= 880 trunk_z=  56.2mm grav_b=(+0.95,-0.27,-0.16)
+[headless_play] t= 17.70s step= 885 trunk_z=  56.1mm grav_b=(+0.95,-0.27,-0.17)
+[headless_play] t= 17.80s step= 890 trunk_z=  56.1mm grav_b=(+0.95,-0.27,-0.17)
+[headless_play] t= 17.90s step= 895 trunk_z=  56.0mm grav_b=(+0.95,-0.28,-0.17)
+[headless_play] t= 18.00s step= 900 trunk_z=  55.9mm grav_b=(+0.95,-0.28,-0.17)
+[headless_play] t= 18.10s step= 905 trunk_z=  55.9mm grav_b=(+0.95,-0.28,-0.17)
+[headless_play] t= 18.20s step= 910 trunk_z=  56.1mm grav_b=(+0.95,-0.26,-0.16)
+[headless_play] t= 18.30s step= 915 trunk_z=  56.0mm grav_b=(+0.95,-0.27,-0.17)
+[headless_play] t= 18.40s step= 920 trunk_z=  55.8mm grav_b=(+0.95,-0.28,-0.17)
+[headless_play] t= 18.50s step= 925 trunk_z=  55.7mm grav_b=(+0.94,-0.28,-0.17)
+[headless_play] t= 18.60s step= 930 trunk_z=  55.6mm grav_b=(+0.94,-0.28,-0.17)
+[headless_play] t= 18.70s step= 935 trunk_z=  55.5mm grav_b=(+0.94,-0.28,-0.17)
+[headless_play] t= 18.80s step= 940 trunk_z=  55.5mm grav_b=(+0.94,-0.28,-0.17)
+[headless_play] t= 18.90s step= 945 trunk_z=  53.7mm grav_b=(+0.93,-0.33,-0.16)
+[headless_play] t= 19.00s step= 950 trunk_z=  51.1mm grav_b=(+0.91,-0.39,-0.14)
+[headless_play] t= 19.10s step= 955 trunk_z=  49.0mm grav_b=(+0.89,-0.43,-0.11)
+[headless_play] t= 19.20s step= 960 trunk_z=  47.7mm grav_b=(+0.87,-0.49,-0.09)
+[headless_play] t= 19.30s step= 965 trunk_z=  44.5mm grav_b=(+0.87,-0.49,-0.08)
+[headless_play] t= 19.40s step= 970 trunk_z=  42.0mm grav_b=(+0.88,-0.47,-0.06)
+[headless_play] t= 19.50s step= 975 trunk_z=  40.5mm grav_b=(+0.91,-0.42,-0.05)
+[headless_play] t= 19.60s step= 980 trunk_z=  39.1mm grav_b=(+0.93,-0.37,-0.03)
+[headless_play] t= 19.70s step= 985 trunk_z=  37.7mm grav_b=(+0.94,-0.33,-0.01)
+[headless_play] t= 19.80s step= 990 trunk_z=  36.3mm grav_b=(+0.96,-0.29,+0.00)
+[headless_play] t= 19.90s step= 995 trunk_z=  34.7mm grav_b=(+0.97,-0.25,+0.02)
+[headless_play] t= 20.00s step=1000 trunk_z=  32.8mm grav_b=(+0.98,-0.19,+0.04)
+[headless_play] t= 20.10s step=1005 trunk_z=  30.8mm grav_b=(+0.99,-0.14,+0.06)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-ref-2026-09-26/seed-face_down-t2.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  64.5mm grav_b=(+1.00,+0.00,+0.00) root_w=(+0.046,+0.430,+0.065)
+[headless_play] cam-world auto: lookat=(+0.046,+0.430,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  63.7mm grav_b=(+1.00,+0.00,-0.03)
+[headless_play] t=  0.10s step=   5 trunk_z=  41.4mm grav_b=(+0.99,+0.01,-0.13)
+[headless_play] t=  0.20s step=  10 trunk_z=  34.7mm grav_b=(+1.00,+0.06,-0.07)
+[headless_play] t=  0.30s step=  15 trunk_z=  32.0mm grav_b=(+1.00,+0.07,-0.04)
+[headless_play] t=  0.40s step=  20 trunk_z=  32.0mm grav_b=(+1.00,+0.07,-0.04)
+[headless_play] t=  0.50s step=  25 trunk_z=  32.0mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  0.60s step=  30 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  0.70s step=  35 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  0.80s step=  40 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  0.90s step=  45 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.00s step=  50 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.10s step=  55 trunk_z=  31.8mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.20s step=  60 trunk_z=  31.8mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.30s step=  65 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.40s step=  70 trunk_z=  31.9mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.50s step=  75 trunk_z=  31.8mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.60s step=  80 trunk_z=  31.8mm grav_b=(+1.00,+0.07,-0.03)
+[headless_play] t=  1.70s step=  85 trunk_z=  32.3mm grav_b=(+1.00,+0.10,-0.02)
+[headless_play] t=  1.80s step=  90 trunk_z=  32.4mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  1.90s step=  95 trunk_z=  32.3mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  2.00s step= 100 trunk_z=  32.3mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  2.10s step= 105 trunk_z=  32.3mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  2.20s step= 110 trunk_z=  32.3mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  2.30s step= 115 trunk_z=  32.3mm grav_b=(+1.00,+0.09,-0.02)
+[headless_play] t=  2.40s step= 120 trunk_z=  32.7mm grav_b=(+1.00,+0.09,-0.03)
+[headless_play] t=  2.50s step= 125 trunk_z=  48.9mm grav_b=(+0.99,+0.05,-0.15)
+[headless_play] t=  2.60s step= 130 trunk_z=  60.4mm grav_b=(+0.97,+0.05,-0.26)
+[headless_play] t=  2.70s step= 135 trunk_z=  61.8mm grav_b=(+0.96,+0.05,-0.27)
+[headless_play] t=  2.80s step= 140 trunk_z=  62.4mm grav_b=(+0.96,+0.04,-0.28)
+[headless_play] t=  2.90s step= 145 trunk_z=  63.1mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  3.00s step= 150 trunk_z=  63.3mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  3.10s step= 155 trunk_z=  63.5mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  3.20s step= 160 trunk_z=  63.6mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  3.30s step= 165 trunk_z=  63.7mm grav_b=(+0.96,+0.04,-0.29)
+[headless_play] t=  3.40s step= 170 trunk_z=  64.7mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  3.50s step= 175 trunk_z=  65.2mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  3.60s step= 180 trunk_z=  65.3mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  3.70s step= 185 trunk_z=  65.3mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  3.80s step= 190 trunk_z=  65.4mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  3.90s step= 195 trunk_z=  65.5mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  4.00s step= 200 trunk_z=  67.7mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t=  4.10s step= 205 trunk_z=  70.5mm grav_b=(+0.95,+0.07,-0.29)
+[headless_play] t=  4.20s step= 210 trunk_z=  71.8mm grav_b=(+0.95,+0.08,-0.29)
+[headless_play] t=  4.30s step= 215 trunk_z=  72.5mm grav_b=(+0.95,+0.09,-0.30)
+[headless_play] t=  4.40s step= 220 trunk_z=  73.2mm grav_b=(+0.95,+0.09,-0.30)
+[headless_play] t=  4.50s step= 225 trunk_z=  73.9mm grav_b=(+0.95,+0.10,-0.30)
+[headless_play] t=  4.60s step= 230 trunk_z=  74.5mm grav_b=(+0.95,+0.11,-0.31)
+[headless_play] t=  4.70s step= 235 trunk_z=  75.0mm grav_b=(+0.94,+0.11,-0.31)
+[headless_play] t=  4.80s step= 240 trunk_z=  75.5mm grav_b=(+0.94,+0.12,-0.31)
+[headless_play] t=  4.90s step= 245 trunk_z=  77.6mm grav_b=(+0.94,+0.13,-0.32)
+[headless_play] t=  5.00s step= 250 trunk_z=  78.5mm grav_b=(+0.94,+0.14,-0.32)
+[headless_play] t=  5.10s step= 255 trunk_z=  78.9mm grav_b=(+0.93,+0.15,-0.32)
+[headless_play] t=  5.20s step= 260 trunk_z=  79.2mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.30s step= 265 trunk_z=  79.4mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.40s step= 270 trunk_z=  79.5mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.50s step= 275 trunk_z=  79.6mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.60s step= 280 trunk_z=  79.7mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.70s step= 285 trunk_z=  80.0mm grav_b=(+0.93,+0.14,-0.33)
+[headless_play] t=  5.80s step= 290 trunk_z=  80.1mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  5.90s step= 295 trunk_z=  80.2mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  6.00s step= 300 trunk_z=  80.4mm grav_b=(+0.93,+0.15,-0.33)
+[headless_play] t=  6.10s step= 305 trunk_z=  80.5mm grav_b=(+0.93,+0.15,-0.34)
+[headless_play] t=  6.20s step= 310 trunk_z=  80.7mm grav_b=(+0.93,+0.15,-0.34)
+[headless_play] t=  6.30s step= 315 trunk_z=  80.9mm grav_b=(+0.93,+0.16,-0.34)
+[headless_play] t=  6.40s step= 320 trunk_z=  80.9mm grav_b=(+0.93,+0.16,-0.34)
+[headless_play] t=  6.50s step= 325 trunk_z=  81.0mm grav_b=(+0.93,+0.16,-0.34)
+[headless_play] t=  6.60s step= 330 trunk_z=  81.5mm grav_b=(+0.94,+0.14,-0.32)
+[headless_play] t=  6.70s step= 335 trunk_z=  75.7mm grav_b=(+0.96,+0.17,-0.24)
+[headless_play] t=  6.80s step= 340 trunk_z=  67.8mm grav_b=(+0.96,+0.23,-0.16)
+[headless_play] t=  6.90s step= 345 trunk_z=  58.3mm grav_b=(+0.96,+0.28,-0.07)
+[headless_play] t=  7.00s step= 350 trunk_z=  53.1mm grav_b=(+0.96,+0.30,-0.02)
+[headless_play] t=  7.10s step= 355 trunk_z=  51.3mm grav_b=(+0.95,+0.30,+0.00)
+[headless_play] t=  7.20s step= 360 trunk_z=  50.6mm grav_b=(+0.95,+0.31,+0.01)
+[headless_play] t=  7.30s step= 365 trunk_z=  50.0mm grav_b=(+0.95,+0.31,+0.01)
+[headless_play] t=  7.40s step= 370 trunk_z=  49.8mm grav_b=(+0.95,+0.31,+0.00)
+[headless_play] t=  7.50s step= 375 trunk_z=  49.8mm grav_b=(+0.95,+0.31,+0.00)
+[headless_play] t=  7.60s step= 380 trunk_z=  49.7mm grav_b=(+0.95,+0.32,+0.00)
+[headless_play] t=  7.70s step= 385 trunk_z=  49.6mm grav_b=(+0.95,+0.32,+0.00)
+[headless_play] t=  7.80s step= 390 trunk_z=  49.6mm grav_b=(+0.95,+0.32,+0.00)
+[headless_play] t=  7.90s step= 395 trunk_z=  49.6mm grav_b=(+0.95,+0.32,-0.00)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  64.5mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  43.7mm grav_b=(+0.99,+0.01,-0.15)
+[headless_play] t=  8.20s step= 410 trunk_z=  43.0mm grav_b=(+1.00,+0.01,-0.08)
+[headless_play] t=  8.30s step= 415 trunk_z=  42.9mm grav_b=(+1.00,+0.02,-0.06)
+[headless_play] t=  8.40s step= 420 trunk_z=  42.5mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  8.50s step= 425 trunk_z=  42.2mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  8.60s step= 430 trunk_z=  41.6mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  8.70s step= 435 trunk_z=  41.1mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  8.80s step= 440 trunk_z=  40.7mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  8.90s step= 445 trunk_z=  40.1mm grav_b=(+1.00,+0.02,-0.05)
+[headless_play] t=  9.00s step= 450 trunk_z=  39.7mm grav_b=(+1.00,+0.02,-0.04)
+[headless_play] t=  9.10s step= 455 trunk_z=  39.0mm grav_b=(+1.00,+0.02,-0.04)
+[headless_play] t=  9.20s step= 460 trunk_z=  38.2mm grav_b=(+1.00,+0.02,-0.04)
+[headless_play] t=  9.30s step= 465 trunk_z=  37.4mm grav_b=(+1.00,+0.02,-0.03)
+[headless_play] t=  9.40s step= 470 trunk_z=  36.8mm grav_b=(+1.00,+0.02,-0.03)
+[headless_play] t=  9.50s step= 475 trunk_z=  35.5mm grav_b=(+1.00,+0.02,-0.02)
+[headless_play] t=  9.60s step= 480 trunk_z=  34.5mm grav_b=(+1.00,+0.02,-0.02)
+[headless_play] t=  9.70s step= 485 trunk_z=  33.0mm grav_b=(+1.00,+0.02,-0.01)
+[headless_play] t=  9.80s step= 490 trunk_z=  31.3mm grav_b=(+1.00,+0.02,-0.00)
+[headless_play] t=  9.90s step= 495 trunk_z=  29.8mm grav_b=(+1.00,+0.02,+0.00)
+[headless_play] t= 10.00s step= 500 trunk_z=  29.5mm grav_b=(+1.00,+0.01,+0.00)
+[headless_play] t= 10.10s step= 505 trunk_z=  29.3mm grav_b=(+1.00,-0.00,+0.00)
+[headless_play] t= 10.20s step= 510 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.00)
+[headless_play] t= 10.30s step= 515 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.40s step= 520 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.50s step= 525 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.60s step= 530 trunk_z=  29.0mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.70s step= 535 trunk_z=  29.1mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.80s step= 540 trunk_z=  29.0mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 10.90s step= 545 trunk_z=  29.0mm grav_b=(+1.00,-0.01,+0.01)
+[headless_play] t= 11.00s step= 550 trunk_z=  39.0mm grav_b=(+1.00,-0.01,-0.09)
+[headless_play] t= 11.10s step= 555 trunk_z=  49.6mm grav_b=(+0.98,+0.01,-0.17)
+[headless_play] t= 11.20s step= 560 trunk_z=  50.3mm grav_b=(+0.98,+0.01,-0.19)
+[headless_play] t= 11.30s step= 565 trunk_z=  50.9mm grav_b=(+0.98,+0.01,-0.19)
+[headless_play] t= 11.40s step= 570 trunk_z=  51.4mm grav_b=(+0.98,+0.01,-0.19)
+[headless_play] t= 11.50s step= 575 trunk_z=  51.9mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t= 11.60s step= 580 trunk_z=  54.6mm grav_b=(+0.98,+0.06,-0.21)
+[headless_play] t= 11.70s step= 585 trunk_z=  54.7mm grav_b=(+0.98,+0.06,-0.21)
+[headless_play] t= 11.80s step= 590 trunk_z=  54.9mm grav_b=(+0.98,+0.06,-0.21)
+[headless_play] t= 11.90s step= 595 trunk_z=  55.1mm grav_b=(+0.98,+0.06,-0.21)
+[headless_play] t= 12.00s step= 600 trunk_z=  55.3mm grav_b=(+0.98,+0.05,-0.21)
+[headless_play] t= 12.10s step= 605 trunk_z=  55.4mm grav_b=(+0.98,+0.05,-0.21)
+[headless_play] t= 12.20s step= 610 trunk_z=  55.6mm grav_b=(+0.98,+0.05,-0.21)
+[headless_play] t= 12.30s step= 615 trunk_z=  56.8mm grav_b=(+0.98,+0.02,-0.21)
+[headless_play] t= 12.40s step= 620 trunk_z=  57.3mm grav_b=(+0.98,+0.02,-0.21)
+[headless_play] t= 12.50s step= 625 trunk_z=  57.7mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 12.60s step= 630 trunk_z=  57.9mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 12.70s step= 635 trunk_z=  58.1mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 12.80s step= 640 trunk_z=  58.3mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 12.90s step= 645 trunk_z=  58.4mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 13.00s step= 650 trunk_z=  59.4mm grav_b=(+0.98,+0.01,-0.21)
+[headless_play] t= 13.10s step= 655 trunk_z=  59.8mm grav_b=(+0.98,+0.02,-0.21)
+[headless_play] t= 13.20s step= 660 trunk_z=  60.0mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 13.30s step= 665 trunk_z=  60.1mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 13.40s step= 670 trunk_z=  60.2mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 13.50s step= 675 trunk_z=  60.3mm grav_b=(+0.98,+0.03,-0.21)
+[headless_play] t= 13.60s step= 680 trunk_z=  61.1mm grav_b=(+0.98,+0.05,-0.21)
+[headless_play] t= 13.70s step= 685 trunk_z=  62.2mm grav_b=(+0.97,+0.09,-0.22)
+[headless_play] t= 13.80s step= 690 trunk_z=  62.2mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 13.90s step= 695 trunk_z=  62.4mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.00s step= 700 trunk_z=  62.5mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.10s step= 705 trunk_z=  62.6mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.20s step= 710 trunk_z=  62.7mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.30s step= 715 trunk_z=  62.7mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.40s step= 720 trunk_z=  62.8mm grav_b=(+0.97,+0.08,-0.22)
+[headless_play] t= 14.50s step= 725 trunk_z=  63.6mm grav_b=(+0.97,+0.10,-0.22)
+[headless_play] t= 14.60s step= 730 trunk_z=  64.7mm grav_b=(+0.96,+0.14,-0.23)
+[headless_play] t= 14.70s step= 735 trunk_z=  64.8mm grav_b=(+0.96,+0.14,-0.23)
+[headless_play] t= 14.80s step= 740 trunk_z=  66.5mm grav_b=(+0.96,+0.13,-0.24)
+[headless_play] t= 14.90s step= 745 trunk_z=  79.2mm grav_b=(+0.95,+0.04,-0.30)
+[headless_play] t= 15.00s step= 750 trunk_z=  85.7mm grav_b=(+0.94,+0.04,-0.35)
+[headless_play] t= 15.10s step= 755 trunk_z=  86.5mm grav_b=(+0.93,+0.03,-0.36)
+[headless_play] t= 15.20s step= 760 trunk_z=  86.6mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t= 15.30s step= 765 trunk_z=  86.3mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t= 15.40s step= 770 trunk_z=  85.9mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t= 15.50s step= 775 trunk_z=  85.6mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t= 15.60s step= 780 trunk_z=  85.3mm grav_b=(+0.93,+0.02,-0.36)
+[headless_play] t= 15.70s step= 785 trunk_z=  85.1mm grav_b=(+0.93,+0.01,-0.35)
+[headless_play] t= 15.80s step= 790 trunk_z=  84.8mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t= 15.90s step= 795 trunk_z=  84.6mm grav_b=(+0.94,+0.01,-0.35)
+[headless_play] t= 16.00s step= 800 trunk_z=  85.6mm grav_b=(+0.94,-0.02,-0.35)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  48.9mm grav_b=(+0.98,+0.02,-0.17)
+[headless_play] t= 16.20s step= 810 trunk_z=  48.2mm grav_b=(+0.99,+0.07,-0.13)
+[headless_play] t= 16.30s step= 815 trunk_z=  48.9mm grav_b=(+0.99,+0.09,-0.13)
+[headless_play] t= 16.40s step= 820 trunk_z=  49.6mm grav_b=(+0.99,+0.11,-0.13)
+[headless_play] t= 16.50s step= 825 trunk_z=  50.2mm grav_b=(+0.98,+0.12,-0.13)
+[headless_play] t= 16.60s step= 830 trunk_z=  50.7mm grav_b=(+0.98,+0.13,-0.12)
+[headless_play] t= 16.70s step= 835 trunk_z=  51.0mm grav_b=(+0.98,+0.13,-0.12)
+[headless_play] t= 16.80s step= 840 trunk_z=  51.2mm grav_b=(+0.98,+0.14,-0.12)
+[headless_play] t= 16.90s step= 845 trunk_z=  51.4mm grav_b=(+0.98,+0.14,-0.12)
+[headless_play] t= 17.00s step= 850 trunk_z=  51.9mm grav_b=(+0.98,+0.14,-0.12)
+[headless_play] t= 17.10s step= 855 trunk_z=  52.1mm grav_b=(+0.98,+0.14,-0.11)
+[headless_play] t= 17.20s step= 860 trunk_z=  52.2mm grav_b=(+0.98,+0.15,-0.11)
+[headless_play] t= 17.30s step= 865 trunk_z=  52.3mm grav_b=(+0.98,+0.15,-0.11)
+[headless_play] t= 17.40s step= 870 trunk_z=  52.4mm grav_b=(+0.98,+0.15,-0.11)
+[headless_play] t= 17.50s step= 875 trunk_z=  52.6mm grav_b=(+0.98,+0.15,-0.11)
+[headless_play] t= 17.60s step= 880 trunk_z=  53.4mm grav_b=(+0.98,+0.17,-0.11)
+[headless_play] t= 17.70s step= 885 trunk_z=  54.4mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 17.80s step= 890 trunk_z=  54.4mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 17.90s step= 895 trunk_z=  54.4mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.00s step= 900 trunk_z=  54.4mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.10s step= 905 trunk_z=  54.5mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.20s step= 910 trunk_z=  54.5mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.30s step= 915 trunk_z=  54.6mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.40s step= 920 trunk_z=  54.6mm grav_b=(+0.98,+0.18,-0.10)
+[headless_play] t= 18.50s step= 925 trunk_z=  54.6mm grav_b=(+0.98,+0.19,-0.10)
+[headless_play] t= 18.60s step= 930 trunk_z=  54.9mm grav_b=(+0.97,+0.20,-0.10)
+[headless_play] t= 18.70s step= 935 trunk_z=  54.8mm grav_b=(+0.98,+0.20,-0.10)
+[headless_play] t= 18.80s step= 940 trunk_z=  54.8mm grav_b=(+0.97,+0.20,-0.10)
+[headless_play] t= 18.90s step= 945 trunk_z=  54.9mm grav_b=(+0.97,+0.20,-0.10)
+[headless_play] t= 19.00s step= 950 trunk_z=  54.9mm grav_b=(+0.97,+0.20,-0.10)
+[headless_play] t= 19.10s step= 955 trunk_z=  51.6mm grav_b=(+0.97,+0.22,-0.07)
+[headless_play] t= 19.20s step= 960 trunk_z=  49.1mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.30s step= 965 trunk_z=  48.7mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.40s step= 970 trunk_z=  48.4mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.50s step= 975 trunk_z=  48.2mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.60s step= 980 trunk_z=  48.1mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.70s step= 985 trunk_z=  48.0mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.80s step= 990 trunk_z=  48.0mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 19.90s step= 995 trunk_z=  47.9mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 20.00s step=1000 trunk_z=  47.9mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] t= 20.10s step=1005 trunk_z=  48.0mm grav_b=(+0.98,+0.21,-0.06)
+[headless_play] done

level-05b-walk-recover-gear-play/proof-takes/vsbl-ref-2026-09-26/seed-face_down-t3.log

@@ -0,0 +1,212 @@
+[INFO]: Loading checkpoint: model_20000.pt
+[headless_play] fixed world camera, lookat=auto (post-reset root)
+[headless_play] episode_length_s=20.0
+[headless_play] velstand spawn forced: face_down
+[headless_play] camera distance=0.5 elevation=-8.0 azimuth=135.0 body=trunk_base
+[headless_play] after reset: trunk_z=  68.2mm grav_b=(+1.00,+0.00,+0.00) root_w=(-0.288,+0.256,+0.068)
+[headless_play] cam-world auto: lookat=(-0.288,+0.256,0.090)
+[headless_play] t=  0.00s step=   0 trunk_z=  66.7mm grav_b=(+1.00,-0.00,-0.02)
+[headless_play] t=  0.10s step=   5 trunk_z=  52.3mm grav_b=(+0.98,+0.03,-0.20)
+[headless_play] t=  0.20s step=  10 trunk_z=  55.8mm grav_b=(+0.98,+0.08,-0.20)
+[headless_play] t=  0.30s step=  15 trunk_z=  57.7mm grav_b=(+0.97,+0.13,-0.20)
+[headless_play] t=  0.40s step=  20 trunk_z=  59.3mm grav_b=(+0.96,+0.18,-0.19)
+[headless_play] t=  0.50s step=  25 trunk_z=  60.6mm grav_b=(+0.96,+0.23,-0.19)
+[headless_play] t=  0.60s step=  30 trunk_z=  61.8mm grav_b=(+0.95,+0.26,-0.18)
+[headless_play] t=  0.70s step=  35 trunk_z=  62.5mm grav_b=(+0.94,+0.29,-0.18)
+[headless_play] t=  0.80s step=  40 trunk_z=  62.8mm grav_b=(+0.93,+0.32,-0.18)
+[headless_play] t=  0.90s step=  45 trunk_z=  63.1mm grav_b=(+0.89,+0.41,-0.18)
+[headless_play] t=  1.00s step=  50 trunk_z=  63.2mm grav_b=(+0.88,+0.43,-0.19)
+[headless_play] t=  1.10s step=  55 trunk_z=  63.1mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.20s step=  60 trunk_z=  63.2mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.30s step=  65 trunk_z=  63.1mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.40s step=  70 trunk_z=  63.1mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.50s step=  75 trunk_z=  63.1mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.60s step=  80 trunk_z=  63.0mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.70s step=  85 trunk_z=  63.0mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.80s step=  90 trunk_z=  63.7mm grav_b=(+0.89,+0.40,-0.20)
+[headless_play] t=  1.90s step=  95 trunk_z=  63.7mm grav_b=(+0.89,+0.41,-0.21)
+[headless_play] t=  2.00s step= 100 trunk_z=  63.8mm grav_b=(+0.89,+0.41,-0.21)
+[headless_play] t=  2.10s step= 105 trunk_z=  63.8mm grav_b=(+0.89,+0.41,-0.21)
+[headless_play] t=  2.20s step= 110 trunk_z=  63.8mm grav_b=(+0.89,+0.41,-0.21)
+[headless_play] t=  2.30s step= 115 trunk_z=  61.1mm grav_b=(+0.91,+0.38,-0.18)
+[headless_play] t=  2.40s step= 120 trunk_z=  50.6mm grav_b=(+0.95,+0.27,-0.14)
+[headless_play] t=  2.50s step= 125 trunk_z=  45.9mm grav_b=(+0.97,+0.22,-0.11)
+[headless_play] t=  2.60s step= 130 trunk_z=  39.5mm grav_b=(+0.97,+0.22,-0.08)
+[headless_play] t=  2.70s step= 135 trunk_z=  36.6mm grav_b=(+0.97,+0.23,-0.04)
+[headless_play] t=  2.80s step= 140 trunk_z=  35.5mm grav_b=(+0.98,+0.20,-0.02)
+[headless_play] t=  2.90s step= 145 trunk_z=  35.2mm grav_b=(+0.98,+0.19,-0.01)
+[headless_play] t=  3.00s step= 150 trunk_z=  35.1mm grav_b=(+0.98,+0.19,-0.01)
+[headless_play] t=  3.10s step= 155 trunk_z=  35.1mm grav_b=(+0.98,+0.19,-0.01)
+[headless_play] t=  3.20s step= 160 trunk_z=  35.1mm grav_b=(+0.98,+0.19,-0.01)
+[headless_play] t=  3.30s step= 165 trunk_z=  35.0mm grav_b=(+0.98,+0.19,-0.01)
+[headless_play] t=  3.40s step= 170 trunk_z=  35.1mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  3.50s step= 175 trunk_z=  35.0mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  3.60s step= 180 trunk_z=  35.0mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  3.70s step= 185 trunk_z=  35.0mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  3.80s step= 190 trunk_z=  35.0mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  3.90s step= 195 trunk_z=  34.9mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  4.00s step= 200 trunk_z=  34.8mm grav_b=(+0.98,+0.18,-0.01)
+[headless_play] t=  4.10s step= 205 trunk_z=  34.4mm grav_b=(+0.99,+0.17,-0.01)
+[headless_play] t=  4.20s step= 210 trunk_z=  34.4mm grav_b=(+0.99,+0.17,-0.01)
+[headless_play] t=  4.30s step= 215 trunk_z=  34.1mm grav_b=(+0.99,+0.15,-0.00)
+[headless_play] t=  4.40s step= 220 trunk_z=  33.9mm grav_b=(+0.99,+0.15,-0.00)
+[headless_play] t=  4.50s step= 225 trunk_z=  33.1mm grav_b=(+0.99,+0.10,-0.01)
+[headless_play] t=  4.60s step= 230 trunk_z=  34.8mm grav_b=(+1.00,+0.08,-0.05)
+[headless_play] t=  4.70s step= 235 trunk_z=  35.6mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  4.80s step= 240 trunk_z=  36.6mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  4.90s step= 245 trunk_z=  37.6mm grav_b=(+0.99,+0.08,-0.08)
+[headless_play] t=  5.00s step= 250 trunk_z=  37.7mm grav_b=(+0.99,+0.08,-0.08)
+[headless_play] t=  5.10s step= 255 trunk_z=  38.0mm grav_b=(+0.99,+0.08,-0.08)
+[headless_play] t=  5.20s step= 260 trunk_z=  38.2mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  5.30s step= 265 trunk_z=  38.2mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  5.40s step= 270 trunk_z=  38.4mm grav_b=(+0.99,+0.08,-0.07)
+[headless_play] t=  5.50s step= 275 trunk_z=  38.5mm grav_b=(+0.99,+0.09,-0.07)
+[headless_play] t=  5.60s step= 280 trunk_z=  39.5mm grav_b=(+0.99,+0.10,-0.07)
+[headless_play] t=  5.70s step= 285 trunk_z=  38.9mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  5.80s step= 290 trunk_z=  38.9mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  5.90s step= 295 trunk_z=  38.9mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.00s step= 300 trunk_z=  38.9mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.10s step= 305 trunk_z=  39.0mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.20s step= 310 trunk_z=  39.0mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.30s step= 315 trunk_z=  39.0mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.40s step= 320 trunk_z=  39.0mm grav_b=(+0.99,+0.10,-0.06)
+[headless_play] t=  6.50s step= 325 trunk_z=  39.0mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  6.60s step= 330 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  6.70s step= 335 trunk_z=  39.3mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  6.80s step= 340 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  6.90s step= 345 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.00s step= 350 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.10s step= 355 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.20s step= 360 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.30s step= 365 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.40s step= 370 trunk_z=  39.4mm grav_b=(+0.99,+0.10,-0.05)
+[headless_play] t=  7.50s step= 375 trunk_z=  40.5mm grav_b=(+0.99,+0.12,-0.04)
+[headless_play] t=  7.60s step= 380 trunk_z=  40.3mm grav_b=(+0.99,+0.12,-0.04)
+[headless_play] t=  7.70s step= 385 trunk_z=  40.3mm grav_b=(+0.99,+0.12,-0.04)
+[headless_play] t=  7.80s step= 390 trunk_z=  40.3mm grav_b=(+0.99,+0.12,-0.04)
+[headless_play] t=  7.90s step= 395 trunk_z=  40.3mm grav_b=(+0.99,+0.12,-0.04)
+[headless_play] RESET at t=  8.00s step= 400 (env termination, not a recovery)
+[headless_play] t=  8.00s step= 400 trunk_z=  77.0mm grav_b=(+1.00,+0.00,+0.00)
+[headless_play] t=  8.10s step= 405 trunk_z=  48.8mm grav_b=(+0.98,-0.01,-0.20)
+[headless_play] t=  8.20s step= 410 trunk_z=  48.7mm grav_b=(+0.98,-0.00,-0.17)
+[headless_play] t=  8.30s step= 415 trunk_z=  49.2mm grav_b=(+0.98,-0.01,-0.18)
+[headless_play] t=  8.40s step= 420 trunk_z=  49.7mm grav_b=(+0.98,-0.00,-0.19)
+[headless_play] t=  8.50s step= 425 trunk_z=  50.1mm grav_b=(+0.98,+0.00,-0.19)
+[headless_play] t=  8.60s step= 430 trunk_z=  50.5mm grav_b=(+0.98,-0.00,-0.20)
+[headless_play] t=  8.70s step= 435 trunk_z=  51.0mm grav_b=(+0.98,-0.00,-0.20)
+[headless_play] t=  8.80s step= 440 trunk_z=  51.3mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t=  8.90s step= 445 trunk_z=  51.7mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t=  9.00s step= 450 trunk_z=  52.0mm grav_b=(+0.98,-0.01,-0.21)
+[headless_play] t=  9.10s step= 455 trunk_z=  52.2mm grav_b=(+0.98,-0.01,-0.22)
+[headless_play] t=  9.20s step= 460 trunk_z=  52.5mm grav_b=(+0.98,-0.02,-0.22)
+[headless_play] t=  9.30s step= 465 trunk_z=  52.7mm grav_b=(+0.97,-0.02,-0.22)
+[headless_play] t=  9.40s step= 470 trunk_z=  53.0mm grav_b=(+0.97,-0.02,-0.23)
+[headless_play] t=  9.50s step= 475 trunk_z=  53.2mm grav_b=(+0.97,-0.02,-0.23)
+[headless_play] t=  9.60s step= 480 trunk_z=  53.4mm grav_b=(+0.97,-0.02,-0.23)
+[headless_play] t=  9.70s step= 485 trunk_z=  55.1mm grav_b=(+0.97,+0.03,-0.23)
+[headless_play] t=  9.80s step= 490 trunk_z=  55.2mm grav_b=(+0.97,+0.03,-0.23)
+[headless_play] t=  9.90s step= 495 trunk_z=  55.4mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 10.00s step= 500 trunk_z=  55.5mm grav_b=(+0.97,+0.02,-0.23)
+[headless_play] t= 10.10s step= 505 trunk_z=  55.6mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 10.20s step= 510 trunk_z=  55.7mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 10.30s step= 515 trunk_z=  55.8mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 10.40s step= 520 trunk_z=  56.0mm grav_b=(+0.97,+0.02,-0.24)
+[headless_play] t= 10.50s step= 525 trunk_z=  58.1mm grav_b=(+0.97,-0.03,-0.24)
+[headless_play] t= 10.60s step= 530 trunk_z=  58.7mm grav_b=(+0.97,-0.03,-0.24)
+[headless_play] t= 10.70s step= 535 trunk_z=  58.8mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t= 10.80s step= 540 trunk_z=  58.8mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t= 10.90s step= 545 trunk_z=  58.9mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t= 11.00s step= 550 trunk_z=  58.9mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t= 11.10s step= 555 trunk_z=  59.1mm grav_b=(+0.97,-0.04,-0.24)
+[headless_play] t= 11.20s step= 560 trunk_z=  60.1mm grav_b=(+0.97,-0.03,-0.24)
+[headless_play] t= 11.30s step= 565 trunk_z=  60.4mm grav_b=(+0.97,-0.02,-0.24)
+[headless_play] t= 11.40s step= 570 trunk_z=  60.5mm grav_b=(+0.97,-0.02,-0.24)
+[headless_play] t= 11.50s step= 575 trunk_z=  60.7mm grav_b=(+0.97,-0.02,-0.24)
+[headless_play] t= 11.60s step= 580 trunk_z=  60.8mm grav_b=(+0.97,-0.02,-0.24)
+[headless_play] t= 11.70s step= 585 trunk_z=  61.3mm grav_b=(+0.97,-0.02,-0.23)
+[headless_play] t= 11.80s step= 590 trunk_z=  52.0mm grav_b=(+0.99,-0.00,-0.14)
+[headless_play] t= 11.90s step= 595 trunk_z=  56.2mm grav_b=(+0.99,+0.00,-0.16)
+[headless_play] t= 12.00s step= 600 trunk_z=  59.1mm grav_b=(+0.98,+0.00,-0.19)
+[headless_play] t= 12.10s step= 605 trunk_z=  61.4mm grav_b=(+0.98,+0.01,-0.20)
+[headless_play] t= 12.20s step= 610 trunk_z=  62.6mm grav_b=(+0.98,+0.02,-0.20)
+[headless_play] t= 12.30s step= 615 trunk_z=  63.4mm grav_b=(+0.98,+0.02,-0.21)
+[headless_play] t= 12.40s step= 620 trunk_z=  63.7mm grav_b=(+0.98,+0.02,-0.22)
+[headless_play] t= 12.50s step= 625 trunk_z=  63.7mm grav_b=(+0.98,+0.01,-0.22)
+[headless_play] t= 12.60s step= 630 trunk_z=  63.8mm grav_b=(+0.97,+0.01,-0.22)
+[headless_play] t= 12.70s step= 635 trunk_z=  63.8mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 12.80s step= 640 trunk_z=  63.7mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 12.90s step= 645 trunk_z=  63.6mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.00s step= 650 trunk_z=  63.5mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.10s step= 655 trunk_z=  63.4mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.20s step= 660 trunk_z=  63.3mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 13.30s step= 665 trunk_z=  63.3mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 13.40s step= 670 trunk_z=  63.2mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 13.50s step= 675 trunk_z=  63.7mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.60s step= 680 trunk_z=  63.5mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.70s step= 685 trunk_z=  63.4mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.80s step= 690 trunk_z=  62.1mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 13.90s step= 695 trunk_z=  56.9mm grav_b=(+0.97,+0.01,-0.23)
+[headless_play] t= 14.00s step= 700 trunk_z=  55.6mm grav_b=(+0.97,+0.00,-0.23)
+[headless_play] t= 14.10s step= 705 trunk_z=  57.5mm grav_b=(+0.97,-0.02,-0.24)
+[headless_play] t= 14.20s step= 710 trunk_z=  58.1mm grav_b=(+0.97,-0.01,-0.24)
+[headless_play] t= 14.30s step= 715 trunk_z=  58.4mm grav_b=(+0.97,-0.01,-0.24)
+[headless_play] t= 14.40s step= 720 trunk_z=  58.7mm grav_b=(+0.97,-0.01,-0.24)
+[headless_play] t= 14.50s step= 725 trunk_z=  59.0mm grav_b=(+0.97,-0.01,-0.25)
+[headless_play] t= 14.60s step= 730 trunk_z=  59.2mm grav_b=(+0.97,-0.01,-0.25)
+[headless_play] t= 14.70s step= 735 trunk_z=  59.5mm grav_b=(+0.97,-0.01,-0.25)
+[headless_play] t= 14.80s step= 740 trunk_z=  59.7mm grav_b=(+0.97,-0.01,-0.25)
+[headless_play] t= 14.90s step= 745 trunk_z=  59.9mm grav_b=(+0.97,-0.00,-0.26)
+[headless_play] t= 15.00s step= 750 trunk_z=  60.1mm grav_b=(+0.97,-0.00,-0.26)
+[headless_play] t= 15.10s step= 755 trunk_z=  61.3mm grav_b=(+0.97,-0.02,-0.26)
+[headless_play] t= 15.20s step= 760 trunk_z=  61.6mm grav_b=(+0.97,-0.01,-0.26)
+[headless_play] t= 15.30s step= 765 trunk_z=  61.8mm grav_b=(+0.97,-0.01,-0.26)
+[headless_play] t= 15.40s step= 770 trunk_z=  62.0mm grav_b=(+0.96,-0.01,-0.26)
+[headless_play] t= 15.50s step= 775 trunk_z=  62.1mm grav_b=(+0.96,-0.01,-0.26)
+[headless_play] t= 15.60s step= 780 trunk_z=  62.3mm grav_b=(+0.96,-0.01,-0.27)
+[headless_play] t= 15.70s step= 785 trunk_z=  63.9mm grav_b=(+0.96,+0.01,-0.27)
+[headless_play] t= 15.80s step= 790 trunk_z=  63.9mm grav_b=(+0.96,+0.00,-0.28)
+[headless_play] t= 15.90s step= 795 trunk_z=  63.9mm grav_b=(+0.96,+0.00,-0.28)
+[headless_play] t= 16.00s step= 800 trunk_z=  64.0mm grav_b=(+0.96,+0.00,-0.28)
+[headless_play] RESET at t= 16.02s step= 801 (env termination, not a recovery)
+[headless_play] t= 16.10s step= 805 trunk_z=  45.9mm grav_b=(+0.99,+0.01,-0.14)
+[headless_play] t= 16.20s step= 810 trunk_z=  29.0mm grav_b=(+1.00,+0.00,-0.03)
+[headless_play] t= 16.30s step= 815 trunk_z=  30.1mm grav_b=(+1.00,-0.01,-0.05)
+[headless_play] t= 16.40s step= 820 trunk_z=  30.2mm grav_b=(+1.00,-0.01,-0.05)
+[headless_play] t= 16.50s step= 825 trunk_z=  30.2mm grav_b=(+1.00,-0.01,-0.05)
+[headless_play] t= 16.60s step= 830 trunk_z=  30.3mm grav_b=(+1.00,-0.01,-0.06)
+[headless_play] t= 16.70s step= 835 trunk_z=  30.3mm grav_b=(+1.00,-0.01,-0.06)
+[headless_play] t= 16.80s step= 840 trunk_z=  30.3mm grav_b=(+1.00,-0.01,-0.06)
+[headless_play] t= 16.90s step= 845 trunk_z=  30.4mm grav_b=(+1.00,-0.00,-0.07)
+[headless_play] t= 17.00s step= 850 trunk_z=  30.4mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.10s step= 855 trunk_z=  30.5mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.20s step= 860 trunk_z=  30.5mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.30s step= 865 trunk_z=  30.5mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.40s step= 870 trunk_z=  30.5mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.50s step= 875 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.60s step= 880 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.70s step= 885 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.80s step= 890 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 17.90s step= 895 trunk_z=  30.6mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 18.00s step= 900 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 18.10s step= 905 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 18.20s step= 910 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.07)
+[headless_play] t= 18.30s step= 915 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.40s step= 920 trunk_z=  30.9mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.50s step= 925 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.60s step= 930 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.70s step= 935 trunk_z=  30.7mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.80s step= 940 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 18.90s step= 945 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.00s step= 950 trunk_z=  30.9mm grav_b=(+1.00,-0.02,-0.08)
+[headless_play] t= 19.10s step= 955 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.20s step= 960 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.30s step= 965 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.40s step= 970 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.50s step= 975 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.60s step= 980 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.70s step= 985 trunk_z=  30.9mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.80s step= 990 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 19.90s step= 995 trunk_z=  30.8mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 20.00s step=1000 trunk_z=  30.9mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] t= 20.10s step=1005 trunk_z=  30.9mm grav_b=(+1.00,-0.01,-0.08)
+[headless_play] done