{
  "execution": "CPU simulation, no renderer, no policy training, no hardware",
  "python": "3.12.14",
  "platform": "Linux",
  "mujoco": "3.15.0",
  "numpy": "2.5.3",
  "scene_sha256": "e3f3a82afba68e1fbf6546d0d8ec1c9896d7c5117d7f9e2171f2dccd5740f80b",
  "robot_xml_sha256": "3c2616550a31f33e84d3c80b8e913ac5618c8888019b0c9490dae93493e647f3",
  "steps": 250,
  "time_step_s": 0.002,
  "simulated_time_s": 0.5000000000000003,
  "nq": 36,
  "nv": 35,
  "joint_count_including_free_joint": 30,
  "actuators": 29,
  "sensors": 4,
  "sensor_values": 12,
  "initial_elbow_rad": 1.28,
  "target_elbow_rad": 1.3800000000000001,
  "final_elbow_rad": 1.3797293148020342,
  "final_base_z_m": 0.7916127869197679,
  "warnings": [
    0,
    0,
    0,
    0,
    0,
    0,
    0
  ],
  "actuator_names": [
    "left_hip_pitch_joint",
    "left_hip_roll_joint",
    "left_hip_yaw_joint",
    "left_knee_joint",
    "left_ankle_pitch_joint",
    "left_ankle_roll_joint",
    "right_hip_pitch_joint",
    "right_hip_roll_joint",
    "right_hip_yaw_joint",
    "right_knee_joint",
    "right_ankle_pitch_joint",
    "right_ankle_roll_joint",
    "waist_yaw_joint",
    "waist_roll_joint",
    "waist_pitch_joint",
    "left_shoulder_pitch_joint",
    "left_shoulder_roll_joint",
    "left_shoulder_yaw_joint",
    "left_elbow_joint",
    "left_wrist_roll_joint",
    "left_wrist_pitch_joint",
    "left_wrist_yaw_joint",
    "right_shoulder_pitch_joint",
    "right_shoulder_roll_joint",
    "right_shoulder_yaw_joint",
    "right_elbow_joint",
    "right_wrist_roll_joint",
    "right_wrist_pitch_joint",
    "right_wrist_yaw_joint"
  ],
  "sensor_names": [
    "imu-torso-angular-velocity",
    "imu-torso-linear-acceleration",
    "imu-pelvis-angular-velocity",
    "imu-pelvis-linear-acceleration"
  ]
}