{
  "actuation": "ideal endpoint attachment",
  "config": {
    "anchor_height": 0.7,
    "bend": 100000.0,
    "contact_friction": 0.5,
    "control_dt": 0.02,
    "density": 1000.0,
    "dwell": 0.2,
    "force_limit": 2.0,
    "gravity": 9.81,
    "horizon": 6.0,
    "joint_damping": 0.03,
    "rope_length": 0.5,
    "rope_nodes": 21,
    "rope_radius": 0.004,
    "settle_time": 1.0,
    "target_jitter": 0.005,
    "target_offset": [
      0.06,
      0.05,
      0.04
    ],
    "timestep": 0.001,
    "tolerance": 0.025,
    "twist": 100000.0,
    "variation_fraction": 0.08,
    "workspace_radius_factor": 1.1
  },
  "episodes": [
    {
      "control_latency_p50_seconds": 0.0024236669996753335,
      "control_latency_p95_seconds": 0.0034616524004377424,
      "control_steps": 22,
      "episode_wall_seconds": 0.12952875008340925,
      "final_distance": 0.007100473920074106,
      "final_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.007100473920074106,
        "dwell_elapsed": 0.20800000000000016,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.4399999999999522,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 96028.56174080828,
          "density": 980.7659551033532,
          "rope_length": 0.5136296070935004,
          "rope_radius": 0.004038353337906706,
          "twist": 104052.48719699167
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "success",
        "scene_hash": "0b08bce96de6fc974f6c724687c554ce865558886738d155e86323cbf77b2f7f",
        "seed": 300,
        "simulation_time": 0.44000000000000034,
        "steps": 22,
        "success": true,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.5649925678028505
      },
      "final_observation_available": true,
      "final_speed": 0.08507830662587543,
      "policy": "feedback",
      "reason": "success",
      "reset_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.09080828233551295,
        "dwell_elapsed": 0.0,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.0000000000000007,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 96028.56174080828,
          "density": 980.7659551033532,
          "rope_length": 0.5136296070935004,
          "rope_radius": 0.004038353337906706,
          "twist": 104052.48719699167
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "running",
        "scene_hash": "0b08bce96de6fc974f6c724687c554ce865558886738d155e86323cbf77b2f7f",
        "seed": 300,
        "simulation_time": 0.0,
        "steps": 0,
        "success": false,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.5649925678028505
      },
      "reward": 1.0836456422607095,
      "seed": 300,
      "setup_seconds": 0.07157200004439801,
      "simulated_seconds": 0.44000000000000034,
      "simulated_seconds_per_wall_second": 3.3969292509706532,
      "step_loop_seconds": 0.057878873660229146,
      "success": true,
      "trace": [
        {
          "endpoint_position": [
            0.06814002587741896,
            0.0,
            0.22574032174026415
          ],
          "endpoint_velocity": [
            1.0238224796621462,
            0.0,
            0.026151126391693272
          ],
          "last_action": [
            0.0,
            0.0,
            0.0
          ],
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04596735169405264,
              0.0,
              0.6842512891015045
            ],
            [
              0.057727614697733416,
              0.0,
              0.6614207247548896
            ],
            [
              0.06305854948002233,
              0.0,
              0.6362986311190548
            ],
            [
              0.06454085485744744,
              0.0,
              0.6106599645182208
            ],
            [
              0.0640518002949607,
              0.0,
              0.5849831407283597
            ],
            [
              0.06277178888578676,
              0.0,
              0.5593335788394491
            ],
            [
              0.06138730919159425,
              0.0,
              0.5336894436370868
            ],
            [
              0.0602624474484321,
              0.0,
              0.5080326094528107
            ],
            [
              0.05955802717913168,
              0.0,
              0.4823607913172585
            ],
            [
              0.05931162045377481,
              0.0,
              0.45668050758325707
            ],
            [
              0.05949094094785757,
              0.0,
              0.43099963797514096
            ],
            [
              0.060029047814860965,
              0.0,
              0.4053238102390619
            ],
            [
              0.06084697183329068,
              0.0,
              0.37965534281366353
            ],
            [
              0.061867617622375255,
              0.0,
              0.35399416647456433
            ],
            [
              0.06302366818806411,
              0.0,
              0.3283387037666296
            ],
            [
              0.06426136612974113,
              0.0,
              0.3026870801778918
            ],
            [
              0.06554155303210112,
              0.0,
              0.2770375121276558
            ],
            [
              0.06683889149403897,
              0.0,
              0.25138883571252085
            ],
            [
              0.06814002587741896,
              0.0,
              0.22574032174026415
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.0
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.10690279931816597,
            0.023877734080542327,
            0.23113723749672327
          ],
          "endpoint_velocity": [
            2.5516731053379926,
            2.0190619512037777,
            0.6592181685020484
          ],
          "last_action": [
            0.377168430835567,
            0.49778140226634504,
            0.5129643351915975
          ],
          "reason": "running",
          "reward": 0.039710398250333075,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.046025251778773396,
              -9.50148538075266e-05,
              0.6843264424130537
            ],
            [
              0.05794170796109093,
              -0.0002919521709807673,
              0.6615778657092536
            ],
            [
              0.06352881649048568,
              -0.0005492546120880735,
              0.6365128209649242
            ],
            [
              0.06537641328570988,
              -0.0008221778763184502,
              0.6108993410515117
            ],
            [
              0.06538371346705067,
              -0.0010671435058959356,
              0.5852190296661655
            ],
            [
              0.06476207170309434,
              -0.0012382455610411233,
              0.5595456438375549
            ],
            [
              0.06423404541172754,
              -0.0012856945436616636,
              0.5338696357535411
            ],
            [
              0.06420205598628123,
              -0.0011563559298921192,
              0.5081885006053372
            ],
            [
              0.06486548725753234,
              -0.0007951941918669496,
              0.4825181310044144
            ],
            [
              0.06629908425117292,
              -0.0001470227763796058,
              0.4568849033026775
            ],
            [
              0.06850478109087987,
              0.0008414566301484038,
              0.4313174038241826
            ],
            [
              0.07144502128559312,
              0.002219064610606108,
              0.4058420260491094
            ],
            [
              0.07506297652720914,
              0.004026749631471245,
              0.38048099502898597
            ],
            [
              0.07929330603608567,
              0.006293167690145494,
              0.3552519373699539
            ],
            [
              0.08406623477414059,
              0.009029225809017102,
              0.33016663575924443
            ],
            [
              0.08930676032479863,
              0.01222156623149044,
              0.3052290427817122
            ],
            [
              0.09493055565235255,
              0.015825181955703153,
              0.28043133926919617
            ],
            [
              0.1008373807211917,
              0.019755165500212467,
              0.2557493147193514
            ],
            [
              0.10690279931816597,
              0.023877734080542327,
              0.23113723749672327
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.02000000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1344771373950661,
            0.045208818505652996,
            0.2380465177258395
          ],
          "endpoint_velocity": [
            0.6976758689787971,
            0.5706371959553185,
            0.15473279659423658
          ],
          "last_action": [
            -0.3924219599908647,
            -0.24576142634002268,
            0.30072841709941744
          ],
          "reason": "running",
          "reward": 0.020932493413114855,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.0461603567790048,
              -9.934469257481488e-05,
              0.6845034125643811
            ],
            [
              0.058458690690757376,
              -0.0002445003626804387,
              0.6619586045783471
            ],
            [
              0.0646666655080909,
              -0.0003600057128740283,
              0.637039010651437
            ],
            [
              0.06735337871878062,
              -0.000376775085410433,
              0.6114984596547901
            ],
            [
              0.0684090909829942,
              -0.00022622246645285246,
              0.5858391288017694
            ],
            [
              0.06904289943114154,
              0.00016300336103283297,
              0.5601684208955401
            ],
            [
              0.06997334184870772,
              0.0008625015256689875,
              0.5345133349762544
            ],
            [
              0.07159133823227683,
              0.0019395120526596605,
              0.508905512141656
            ],
            [
              0.0740745385376688,
              0.0034527389658839487,
              0.48338919746157216
            ],
            [
              0.07746518862152726,
              0.005449363411427823,
              0.4580109652188526
            ],
            [
              0.08172302282292347,
              0.007963063797783193,
              0.43280994583570626
            ],
            [
              0.08676085775796652,
              0.011012559322719197,
              0.40781277629306045
            ],
            [
              0.09246818899918974,
              0.01460036513774296,
              0.3830318715637068
            ],
            [
              0.09872632899544063,
              0.018711488278614113,
              0.35846620366639453
            ],
            [
              0.10541793907019609,
              0.02331215136930773,
              0.3341023888295916
            ],
            [
              0.11243266921460607,
              0.02834847492411445,
              0.30991630409093396
            ],
            [
              0.11967050406967461,
              0.0337453628387477,
              0.2858741210137611
            ],
            [
              0.1270435383086415,
              0.039405511444802886,
              0.26193380412359624
            ],
            [
              0.1344771373950661,
              0.045208818505652996,
              0.2380465177258395
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.04000000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14625142884237818,
            0.056477651435769584,
            0.241716909747151
          ],
          "endpoint_velocity": [
            0.4339625307165501,
            0.5178116987792694,
            0.17032413705932173
          ],
          "last_action": [
            -0.204666031670067,
            -0.09696608177901457,
            0.357756957785208
          ],
          "reason": "running",
          "reward": -0.0004926764343872288,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04633693935020741,
              7.773757697236379e-06,
              0.6847392521638584
            ],
            [
              0.05909987710073482,
              0.0001029542466446564,
              0.6624539023808428
            ],
            [
              0.06599781852589347,
              0.0003351614040081475,
              0.6377172304496428
            ],
            [
              0.06952476489806993,
              0.0007493378097389483,
              0.612282459731325
            ],
            [
              0.07151694191508835,
              0.00139895188240848,
              0.5866866068135158
            ],
            [
              0.07314370185925352,
              0.002344917206911599,
              0.5610741634316445
            ],
            [
              0.07509001218476814,
              0.0036495624067212156,
              0.5354997967470113
            ],
            [
              0.07771595754104506,
              0.005370795901644715,
              0.5100109713416995
            ],
            [
              0.08117068776972594,
              0.00755805049480053,
              0.4846570917432549
            ],
            [
              0.08547107073329001,
              0.010249880727051568,
              0.45948173781723134
            ],
            [
              0.09055557866445588,
              0.013472546159146403,
              0.43451573240428326
            ],
            [
              0.09632071602870862,
              0.017238897625122197,
              0.4097747648254039
            ],
            [
              0.10264526000599368,
              0.021547240523877884,
              0.38525992147255367
            ],
            [
              0.10940587454357624,
              0.026379917608597248,
              0.36096018871266156
            ],
            [
              0.1164870289735337,
              0.03170178274877377,
              0.33685470753021
            ],
            [
              0.12378693462251691,
              0.03745853024193597,
              0.3129150140328188
            ],
            [
              0.1312211102941883,
              0.043575207772788074,
              0.28910622347691367
            ],
            [
              0.13872426330542725,
              0.04995485928598477,
              0.2653882886934376
            ],
            [
              0.14625142884237818,
              0.056477651435769584,
              0.241716909747151
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.060000000000000046
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14867853879895485,
            0.06090245096460699,
            0.24242774918471213
          ],
          "endpoint_velocity": [
            -0.14007930640810362,
            0.0006409124141280309,
            -0.06445193927464535
          ],
          "last_action": [
            -0.25648061157762625,
            -0.19644803678616818,
            0.31715520245582196
          ],
          "reason": "running",
          "reward": -0.0019064075842669087,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04645485132139207,
              7.64667744946903e-05,
              0.684900341630549
            ],
            [
              0.05951425736193158,
              0.00032323827945411783,
              0.6627885919939117
            ],
            [
              0.066834441103514,
              0.0007733700962792561,
              0.6381765878975846
            ],
            [
              0.07085570238868387,
              0.0014566758521259483,
              0.6128210952930011
            ],
            [
              0.07337790232338916,
              0.0024167312720723044,
              0.587281806826392
            ],
            [
              0.07554444682575251,
              0.003706659050782631,
              0.5617244081804879
            ],
            [
              0.07801833654139169,
              0.00538060622292456,
              0.5362172283120586
            ],
            [
              0.08113875211779698,
              0.007486935760877321,
              0.5108131964114185
            ],
            [
              0.0850342745847315,
              0.010064153906201035,
              0.48556005194104235
            ],
            [
              0.08970181595054319,
              0.013138912855252687,
              0.4604941866270983
            ],
            [
              0.0950611984770374,
              0.016725140651412986,
              0.4356354817373134
            ],
            [
              0.10099246642144814,
              0.020823519522564067,
              0.41098672841928074
            ],
            [
              0.1073611636042385,
              0.025421011648562423,
              0.38653592102946316
            ],
            [
              0.1140351466771224,
              0.030490225066269954,
              0.36226044545839114
            ],
            [
              0.12089589409048766,
              0.035988876469589176,
              0.3381309158868592
            ],
            [
              0.1278460302526413,
              0.0418593739653078,
              0.314114868014376
            ],
            [
              0.13481466148229507,
              0.04802891681176513,
              0.2901792431109088
            ],
            [
              0.14176119488538386,
              0.054410103840151575,
              0.2662927654567706
            ],
            [
              0.14867853879895485,
              0.06090245096460699,
              0.24242774918471213
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.08000000000000006
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1459804388067174,
            0.06060567047882759,
            0.24161145073065227
          ],
          "endpoint_velocity": [
            -0.18748207022129112,
            -0.06574544948641767,
            -0.051918676772978234
          ],
          "last_action": [
            -0.1372412518622294,
            -0.11140333548325687,
            0.36874082716370227
          ],
          "reason": "running",
          "reward": 0.0007787035817408669,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.046514339894910633,
              0.0001015122370382268,
              0.6849826723397943
            ],
            [
              0.05970624519713867,
              0.0003940890069617281,
              0.6629502760191165
            ],
            [
              0.06718928911548258,
              0.0009008274210463893,
              0.6383884005981212
            ],
            [
              0.07136972657745061,
              0.0016442930126259146,
              0.6130603596979375
            ],
            [
              0.07402762566448602,
              0.0026631832755566265,
              0.5875371175571767
            ],
            [
              0.07629478132907314,
              0.004006771491468098,
              0.5619912131848657
            ],
            [
              0.0788264941449923,
              0.0057257523781784735,
              0.5364927036356881
            ],
            [
              0.08195617410011947,
              0.007865354997966225,
              0.511092592251906
            ],
            [
              0.08580777795039464,
              0.010461412678063456,
              0.48583464129378545
            ],
            [
              0.09037451524976704,
              0.013538533513898403,
              0.4607505043396602
            ],
            [
              0.09557348886233519,
              0.017109343888157588,
              0.43585554086678957
            ],
            [
              0.10128323627144764,
              0.02117400954545008,
              0.41114896347226404
            ],
            [
              0.10736933130934873,
              0.02571974329390242,
              0.38661663843882144
            ],
            [
              0.11370156146080182,
              0.030720112404682837,
              0.36223556260123585
            ],
            [
              0.12016556789788471,
              0.036134422544554665,
              0.33797775795697155
            ],
            [
              0.12667060642471253,
              0.041907222802017544,
              0.3138137984328157
            ],
            [
              0.13315493820282123,
              0.047968342659543355,
              0.28971492943170335
            ],
            [
              0.13958946560075441,
              0.05423346880972254,
              0.26565494729495376
            ],
            [
              0.1459804388067174,
              0.06060567047882759,
              0.24161145073065227
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.10000000000000007
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14216292762502467,
            0.0586108168566219,
            0.2406135500348229
          ],
          "endpoint_velocity": [
            -0.2174843296218259,
            -0.1417625531154229,
            -0.05830609054173476
          ],
          "last_action": [
            -0.09840956098655812,
            -0.09183894015032645,
            0.37377049607888413
          ],
          "reason": "running",
          "reward": 0.0013239199055743913,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04652240196055324,
              7.047147674790194e-05,
              0.6849936849357792
            ],
            [
              0.05970841826431941,
              0.00029101506394622304,
              0.6629569249910044
            ],
            [
              0.06714664328976219,
              0.000692133820026415,
              0.6383794888652596
            ],
            [
              0.07123461781245499,
              0.0013051449617073336,
              0.6130328690523013
            ],
            [
              0.0737540898210781,
              0.0021759685883571667,
              0.5874901131064425
            ],
            [
              0.0758433587811398,
              0.003360224298951122,
              0.5619211681159836
            ],
            [
              0.07816613487612728,
              0.004914621240328926,
              0.5363922234518997
            ],
            [
              0.08106441502656189,
              0.00689008038711739,
              0.5109513903753349
            ],
            [
              0.08466975092253774,
              0.00932755725447874,
              0.485641338737716
            ],
            [
              0.08898126220579375,
              0.012255948392939437,
              0.46049430939571095
            ],
            [
              0.09392004432245596,
              0.015691152419636003,
              0.4355273907999418
            ],
            [
              0.09936685531670905,
              0.019635499894904783,
              0.41074207131601453
            ],
            [
              0.1051881045169985,
              0.024077233214986532,
              0.3861265623322445
            ],
            [
              0.11125353744396124,
              0.02898983266730748,
              0.3616599610365457
            ],
            [
              0.11744838852361499,
              0.03433145631918365,
              0.33731596595498015
            ],
            [
              0.12368158858193783,
              0.040044552838688456,
              0.31306631783124717
            ],
            [
              0.12989146306420166,
              0.04605607379166409,
              0.2888828876689414
            ],
            [
              0.13604949515952128,
              0.05227831596438718,
              0.26473956494836043
            ],
            [
              0.14216292762502467,
              0.0586108168566219,
              0.2406135500348229
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.12000000000000009
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13900784072760777,
            0.0564680644632846,
            0.24004061889364192
          ],
          "endpoint_velocity": [
            -0.12766634160053864,
            -0.09467738706696913,
            -0.014360164242513837
          ],
          "last_action": [
            -0.052733884319497035,
            -0.052886128021018275,
            0.3853463564793669
          ],
          "reason": "running",
          "reward": 0.000991479779677119,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.046502048537743236,
              4.459808114800646e-06,
              0.6849652937492726
            ],
            [
              0.059606986941608105,
              7.998571244797688e-05,
              0.6628792497492858
            ],
            [
              0.06688944356775675,
              0.00027551690449116264,
              0.6382527183787929
            ],
            [
              0.07075299699328785,
              0.0006411903470426184,
              0.6128661531884773
            ],
            [
              0.07299347328713733,
              0.0012377881753008581,
              0.5872895468594764
            ],
            [
              0.07476625886529163,
              0.0021339184519996437,
              0.5616850035883744
            ],
            [
              0.07675318728918624,
              0.0033988752486938654,
              0.5361117665222248
            ],
            [
              0.07931395469240005,
              0.005095950543174592,
              0.5106146910026251
            ],
            [
              0.0825960413963157,
              0.007277799813487752,
              0.48523741977559437
            ],
            [
              0.08661172291707263,
              0.009983763264795841,
              0.4600165999503556
            ],
            [
              0.09129196592550982,
              0.013238440041501048,
              0.4349758007592393
            ],
            [
              0.09652405064794695,
              0.017050768376074874,
              0.41012365535768963
            ],
            [
              0.10217778189617635,
              0.02141324483604074,
              0.38545498409680296
            ],
            [
              0.10812352111399522,
              0.026301032447725078,
              0.36095405745412523
            ],
            [
              0.11424466440001006,
              0.03167119059962475,
              0.33659769840839926
            ],
            [
              0.12044606118168741,
              0.037462084314487006,
              0.3123583519470672
            ],
            [
              0.1266597378091321,
              0.04359341068400336,
              0.2882059963810219
            ],
            [
              0.13284845548198093,
              0.049966889869096955,
              0.2641100169326561
            ],
            [
              0.13900784072760777,
              0.0564680644632846,
              0.24004061889364192
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.1400000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13717066199989322,
            0.05500414822888116,
            0.2400860200225151
          ],
          "endpoint_velocity": [
            -0.06471864506861938,
            -0.058496781922680124,
            0.014895270508814722
          ],
          "last_action": [
            -0.04363751235064993,
            -0.04322989559975867,
            0.38008918631637145
          ],
          "reason": "running",
          "reward": 0.0007601147171636425,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04646850188133429,
              -8.255716672841875e-05,
              0.6849191713842305
            ],
            [
              0.059459223891505146,
              -0.00019327527989238533,
              0.6627659021569913
            ],
            [
              0.06654033393965239,
              -0.0002565762852169646,
              0.6380800291165372
            ],
            [
              0.07013017754262074,
              -0.00019642089015578363,
              0.612650757429457
            ],
            [
              0.07204579601338269,
              6.826430752350843e-05,
              0.58704218851354
            ],
            [
              0.07346562221427919,
              0.000623789962390175,
              0.5614060043375223
            ],
            [
              0.07509489570594904,
              0.0015565349494592938,
              0.5357932358620313
            ],
            [
              0.07731570526286617,
              0.0029464533465602145,
              0.5102457391928472
            ],
            [
              0.08029539233382293,
              0.004861748086610839,
              0.4848097103102057
            ],
            [
              0.08406231953919283,
              0.007355325198018201,
              0.4595286893349359
            ],
            [
              0.0885590617000688,
              0.010462651200277923,
              0.4344356015472016
            ],
            [
              0.09367986406032978,
              0.014200339609707435,
              0.40954896341598185
            ],
            [
              0.09929707520162809,
              0.018565054076848032,
              0.3848723464216881
            ],
            [
              0.10527960903966632,
              0.023532419803571115,
              0.3603963938243565
            ],
            [
              0.11150590265644332,
              0.029056131495778514,
              0.336101104227241
            ],
            [
              0.1178727565142563,
              0.03506730069429005,
              0.31195847169155344
            ],
            [
              0.12430134860687557,
              0.04147448615792743,
              0.28793430890052313
            ],
            [
              0.13074089522765978,
              0.04816445712788647,
              0.26399032809797124
            ],
            [
              0.13717066199989322,
              0.05500414822888116,
              0.2400860200225151
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.16000000000000011
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13643658133037487,
            0.054281473342389724,
            0.24067320448728907
          ],
          "endpoint_velocity": [
            -0.011518605225209338,
            -0.017285096051595894,
            0.042740629011666545
          ],
          "last_action": [
            -0.04100264920648424,
            -0.03763588454179655,
            0.3723213163398075
          ],
          "reason": "running",
          "reward": 0.0008281699445695902,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04643190763713563,
              -0.00017652562320523793,
              0.6848696636639037
            ],
            [
              0.05930255408703548,
              -0.0004866890533975131,
              0.6626483065291804
            ],
            [
              0.06617713491665965,
              -0.0008250079554160423,
              0.6379063556554484
            ],
            [
              0.06949163366126185,
              -0.001086744970595938,
              0.6124410057440967
            ],
            [
              0.07108628484534209,
              -0.0011683783346677233,
              0.586809211466371
            ],
            [
              0.0721641075029881,
              -0.0009639463434648301,
              0.5611511725666362
            ],
            [
              0.07345516916441924,
              -0.00036798022787057306,
              0.5355090892176547
            ],
            [
              0.0753653523842013,
              0.0007182240403765844,
              0.5099217913014
            ],
            [
              0.07808317034550068,
              0.002380456536915105,
              0.48443868115060884
            ],
            [
              0.08165413571797808,
              0.004686983469444234,
              0.4591115054543097
            ],
            [
              0.08603307831816519,
              0.007685493819086601,
              0.4339843683898526
            ],
            [
              0.09112131481879279,
              0.011401044606876411,
              0.40908773768226175
            ],
            [
              0.09679325335174244,
              0.015834567665858987,
              0.3844359181503779
            ],
            [
              0.10291531058257679,
              0.0209615722569726,
              0.3600274784600125
            ],
            [
              0.10935943934693247,
              0.026731179009944765,
              0.33584641020294165
            ],
            [
              0.11601252028526886,
              0.033065492846562836,
              0.31186411108087464
            ],
            [
              0.12278281652820588,
              0.03985974461689834,
              0.2880410035729775
            ],
            [
              0.1296038819873926,
              0.04698322593500797,
              0.2643288385759732
            ],
            [
              0.13643658133037487,
              0.054281473342389724,
              0.24067320448728907
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.18000000000000013
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13637705885943954,
            0.05410659800371023,
            0.24164658643203596
          ],
          "endpoint_velocity": [
            0.009617804679404124,
            0.0024461662792691907,
            0.057717522158261994
          ],
          "last_action": [
            -0.0469618524721532,
            -0.04071205714465326,
            0.3594881320663549
          ],
          "reason": "running",
          "reward": 0.0009806409894279255,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04639545497746419,
              -0.0002709711724794317,
              0.6848211890694982
            ],
            [
              0.059148844241017615,
              -0.0007810562130402109,
              0.6625360072249553
            ],
            [
              0.06582449720847526,
              -0.0013939805839628377,
              0.6377449113340055
            ],
            [
              0.06887675065823112,
              -0.0019755199304649224,
              0.6122520885172283
            ],
            [
              0.07016899278038816,
              -0.0023990625430130937,
              0.5866066371417165
            ],
            [
              0.07092853225156893,
              -0.002538365273812287,
              0.5609367686410487
            ],
            [
              0.07190997253548456,
              -0.0022681420510715254,
              0.5352754707650708
            ],
            [
              0.07354280512484855,
              -0.0014701068265198956,
              0.509658377803219
            ],
            [
              0.07603661398214438,
              -4.003710769894778e-05,
              0.48413830193571317
            ],
            [
              0.07945393432694574,
              0.002106400220849178,
              0.45877588057282387
            ],
            [
              0.08376155918731497,
              0.005029525653807136,
              0.4336275421498946
            ],
            [
              0.08886731569645584,
              0.008762832545298624,
              0.40873715526948573
            ],
            [
              0.09464681178688995,
              0.013311052694288446,
              0.38413125479651705
            ],
            [
              0.10096286677856371,
              0.01864869027789665,
              0.3598175803868083
            ],
            [
              0.107679747680517,
              0.02471910188664408,
              0.33578483536011566
            ],
            [
              0.1146733049933951,
              0.03143407225547659,
              0.3120038131367059
            ],
            [
              0.12183808606544812,
              0.03867427291027079,
              0.2884287282728814
            ],
            [
              0.12909170421872776,
              0.04629056821463855,
              0.26499979832599313
            ],
            [
              0.13637705885943954,
              0.05410659800371023,
              0.24164658643203596
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.20000000000000015
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13657328106392014,
            0.05419850689797376,
            0.24285739022359223
          ],
          "endpoint_velocity": [
            0.014900827180766685,
            0.010756295811961525,
            0.06729794853229151
          ],
          "last_action": [
            -0.051650730238953314,
            -0.04389611934057461,
            0.3460100893322372
          ],
          "reason": "running",
          "reward": 0.0011160108528733101,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04635901545913089,
              -0.0003631040225839939,
              0.6847735043835872
            ],
            [
              0.05899764156682006,
              -0.0010687679438012713,
              0.66242835674834
            ],
            [
              0.06548104800430096,
              -0.0019504728574465536,
              0.6375943781763843
            ],
            [
              0.06828195633978637,
              -0.002844872341643629,
              0.6120817652886469
            ],
            [
              0.06928610042226085,
              -0.003602534858779172,
              0.5864311103950106
            ],
            [
              0.06974402755960177,
              -0.00407710932684556,
              0.5607580985710774
            ],
            [
              0.07043391084461112,
              -0.004123492812829034,
              0.5350859275696611
            ],
            [
              0.07180813817723374,
              -0.003603598393545549,
              0.5094465113646899
            ],
            [
              0.07409693960027909,
              -0.0023943703364255123,
              0.4838958242926676
            ],
            [
              0.07737965767129965,
              -0.00039494111493712644,
              0.4585036260068245
            ],
            [
              0.08163490529064425,
              0.0024680243982229287,
              0.433339454734216
            ],
            [
              0.08677681715434307,
              0.006236620162342662,
              0.40846183191197405
            ],
            [
              0.09268186600277523,
              0.010919248755935862,
              0.3839110150778898
            ],
            [
              0.09920881652092782,
              0.016488993499891996,
              0.3597053432352434
            ],
            [
              0.1062137577684842,
              0.022882831861010273,
              0.33583928263029994
            ],
            [
              0.1135611204819628,
              0.030001557962356838,
              0.31228344070555203
            ],
            [
              0.1211315992930898,
              0.03771072220563607,
              0.28898546103114503
            ],
            [
              0.12882710876897283,
              0.04584244974643291,
              0.2658728707383639
            ],
            [
              0.13657328106392014,
              0.05419850689797376,
              0.24285739022359223
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.22000000000000017
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13676184253879012,
            0.05434610524266517,
            0.24421042959559594
          ],
          "endpoint_velocity": [
            0.008995675496696581,
            0.008876727788017125,
            0.07241186104179895
          ],
          "last_action": [
            -0.054933707909099905,
            -0.04689274066638295,
            0.331506944823167
          ],
          "reason": "running",
          "reward": 0.0012332799712419591,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.046320762827013334,
              -0.00045317628040597314,
              0.6847240999761602
            ],
            [
              0.05884236537102988,
              -0.0013508780866231275,
              0.6623200366059262
            ],
            [
              0.06513306370402128,
              -0.002497044723510517,
              0.6374473232271158
            ],
            [
              0.06768454032800417,
              -0.003699725738754153,
              0.6119212193388702
            ],
            [
              0.06840435175944766,
              -0.0047871260202965666,
              0.586272868779204
            ],
            [
              0.06856536256517105,
              -0.00559317149254495,
              0.5606045454892465
            ],
            [
              0.06896842896910375,
              -0.005953153098956251,
              0.5349287513434419
            ],
            [
              0.07008821506922314,
              -0.005709139996772811,
              0.509272855510386
            ],
            [
              0.0721753083534737,
              -0.004718955161236656,
              0.4836954821128892
            ],
            [
              0.07532583147487443,
              -0.0028647646282646613,
              0.45827553186781445
            ],
            [
              0.07953030287353408,
              -5.979697981962689e-05,
              0.43309629843195135
            ],
            [
              0.08470920848919682,
              0.0037469027453282365,
              0.40823215431316584
            ],
            [
              0.09073978757751358,
              0.008567411601544568,
              0.38373860353147327
            ],
            [
              0.09747649739585026,
              0.014373130465584628,
              0.35964611386709083
            ],
            [
              0.10476691578203084,
              0.021094212826226484,
              0.3359561144723131
            ],
            [
              0.11246377214281891,
              0.028619982843212106,
              0.31263962080911506
            ],
            [
              0.12043382541319735,
              0.03680052779794502,
              0.28963753058279906
            ],
            [
              0.12856352479611333,
              0.04544917283810572,
              0.2668637163250635
            ],
            [
              0.13676184253879012,
              0.05434610524266517,
              0.24421042959559594
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.24000000000000019
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13681870123996223,
            0.05442476660102644,
            0.2456638227460666
          ],
          "endpoint_velocity": [
            0.0006828782770537112,
            0.003485100365333893,
            0.07692440315507616
          ],
          "last_action": [
            -0.05534303473678218,
            -0.04789883210731098,
            0.31669807297575314
          ],
          "reason": "running",
          "reward": 0.0013581097518372642,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04627887235870937,
              -0.0005421097204865305,
              0.6846705502087932
            ],
            [
              0.058676543678522035,
              -0.00163014850507215,
              0.6622060811131346
            ],
            [
              0.06476732310343003,
              -0.0030390091632425936,
              0.6372971274630183
            ],
            [
              0.06706314093099984,
              -0.004548577127485345,
              0.6117630545531864
            ],
            [
              0.06749327927907986,
              -0.005965186288058243,
              0.5861242820827977
            ],
            [
              0.06735225840662491,
              -0.007103512871367193,
              0.5604684293391461
            ],
            [
              0.06746293975202877,
              -0.00777954237612309,
              0.5347960864766579
            ],
            [
              0.0683218649496157,
              -0.007815509251971832,
              0.5091289984417938
            ],
            [
              0.07019995337881257,
              -0.00704981395405166,
              0.4835277299407307
            ],
            [
              0.07321038780613427,
              -0.005347134462528879,
              0.45808021815586136
            ],
            [
              0.07735601030253594,
              -0.002606684366572706,
              0.4328841278429267
            ],
            [
              0.08256402521246789,
              0.0012318117574764385,
              0.4080309546624914
            ],
            [
              0.0887126153910254,
              0.006184317399728733,
              0.3835931408006038
            ],
            [
              0.09565187189833498,
              0.012220477913508405,
              0.3596150429963415
            ],
            [
              0.10322061941892259,
              0.019263328782459215,
              0.3361065013087766
            ],
            [
              0.1112595832525932,
              0.0271903519506119,
              0.31303974919441024
            ],
            [
              0.11962136390838199,
              0.03583589147554113,
              0.290348903237152
            ],
            [
              0.1281769075116512,
              0.044994419938561736,
              0.26793324533965274
            ],
            [
              0.13681870123996223,
              0.05442476660102644,
              0.2456638227460666
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.2600000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13672034928472576,
            0.054389563574278335,
            0.24721011959037814
          ],
          "endpoint_velocity": [
            -0.007230970267174147,
            -0.00283558417268287,
            0.08149908196410255
          ],
          "last_action": [
            -0.0538334224435926,
            -0.04733753883525289,
            0.30103600594272717
          ],
          "reason": "running",
          "reward": 0.001496321425619318,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04623207358617708,
              -0.0006306746656054693,
              0.6846112431145623
            ],
            [
              0.05849585198770728,
              -0.0019085410412580774,
              0.6620833659144174
            ],
            [
              0.06437537282101308,
              -0.0035796257949433485,
              0.6371398865096233
            ],
            [
              0.06640470863603347,
              -0.005395986100923579,
              0.6116032249093004
            ],
            [
              0.06653511511036685,
              -0.0071425953059552905,
              0.5859815386896735
            ],
            [
              0.06608230406886977,
              -0.008615423821475534,
              0.560346324771603
            ],
            [
              0.06589060556101352,
              -0.009611539535818964,
              0.5346848856173702
            ],
            [
              0.06647817265449511,
              -0.009933429370591669,
              0.5090121450907806
            ],
            [
              0.06813637636693629,
              -0.009399817262290363,
              0.48338980966118744
            ],
            [
              0.07099590072760145,
              -0.007857376005470347,
              0.4579146907344161
            ],
            [
              0.07507249259020284,
              -0.005190690414607253,
              0.43269942935536404
            ],
            [
              0.08030058044518389,
              -0.0013296478824757303,
              0.4078539642383896
            ],
            [
              0.08655955280038873,
              0.003745869439028958,
              0.38346946898742024
            ],
            [
              0.09369508689453625,
              0.010003714839302607,
              0.3596060825330493
            ],
            [
              0.10153694596189032,
              0.017359524591539312,
              0.33628363564329705
            ],
            [
              0.10991341732077088,
              0.025678566203349424,
              0.3134764884484385
            ],
            [
              0.11866254602262358,
              0.034779166619861454,
              0.29111198445916886
            ],
            [
              0.1276395380472099,
              0.04443692020757023,
              0.2690738561638092
            ],
            [
              0.13672034928472576,
              0.054389563574278335,
              0.24721011959037814
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.2800000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13649102499126037,
            0.054242379770065303,
            0.2488529366842734
          ],
          "endpoint_velocity": [
            -0.012916339732325921,
            -0.008027807038077373,
            0.08651475074249887
          ],
          "last_action": [
            -0.05087144075517094,
            -0.04540533743326762,
            0.28442936779735517
          ],
          "reason": "running",
          "reward": 0.0016380101464913371,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.046179857900392175,
              -0.0007189036398971693,
              0.684545610116006
            ],
            [
              0.058298828826263895,
              -0.002185634769885391,
              0.6619509714202696
            ],
            [
              0.0639548533701432,
              -0.004117415906160535,
              0.6369746613985464
            ],
            [
              0.06570631120550742,
              -0.006238903563457762,
              0.611440955442075
            ],
            [
              0.06552674896253033,
              -0.008314372825589115,
              0.5858441072172736
            ],
            [
              0.0647525830281101,
              -0.010121803863205096,
              0.5602380080522131
            ],
            [
              0.0642490203742955,
              -0.011439919456032548,
              0.5345953200059436
            ],
            [
              0.06455550437176151,
              -0.012051730782733874,
              0.5089229572638724
            ],
            [
              0.06598394486964879,
              -0.011756193049341923,
              0.4832829364079369
            ],
            [
              0.06868297060734073,
              -0.010381574367787043,
              0.4577807135150062
            ],
            [
              0.07268184833306889,
              -0.00779728186724669,
              0.43254443746494314
            ],
            [
              0.07792278320998663,
              -0.00392286883273414,
              0.40770376086008736
            ],
            [
              0.08428666490610486,
              0.0012662119927081541,
              0.38337037495484394
            ],
            [
              0.09161470839242972,
              0.007736002063187577,
              0.35962212693441975
            ],
            [
              0.09972726632084278,
              0.01539447745601599,
              0.3364904737685899
            ],
            [
              0.10843968467112812,
              0.024094350977373863,
              0.31395286839146286
            ],
            [
              0.11757497954571274,
              0.03363771948682888,
              0.2919299320587258
            ],
            [
              0.12697231574660178,
              0.04378137760359932,
              0.27028890709985065
            ],
            [
              0.13649102499126037,
              0.054242379770065303,
              0.2488529366842734
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.3000000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13616968236740384,
            0.05400731303752541,
            0.25059011246570356
          ],
          "endpoint_velocity": [
            -0.016568006551000547,
            -0.011724476822507213,
            0.09119947325019234
          ],
          "last_action": [
            -0.047156855454229055,
            -0.04263544367478868,
            0.2667472796638034
          ],
          "reason": "running",
          "reward": 0.0017664901450688687,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04612233887263638,
              -0.0008061466578885945,
              0.6844738961196271
            ],
            [
              0.05808630918607754,
              -0.0024588786983893566,
              0.6618095994077926
            ],
            [
              0.06350820532323556,
              -0.0046467798719638815,
              0.6368025087126875
            ],
            [
              0.06497284630076922,
              -0.007067817226594736,
              0.6112773865928017
            ],
            [
              0.06447622457594414,
              -0.009466501703979724,
              0.5857129946786361
            ],
            [
              0.06337477321161353,
              -0.011603795639237866,
              0.5601443178683866
            ],
            [
              0.06255376930169597,
              -0.013240917918549476,
              0.5345282245377644
            ],
            [
              0.06257340921603306,
              -0.014141959749435325,
              0.5088625628047518
            ],
            [
              0.06376603244287507,
              -0.014086292935271891,
              0.48320884951904475
            ],
            [
              0.06629850163371485,
              -0.012883621342846872,
              0.4576808674254413
            ],
            [
              0.07021411804820249,
              -0.010387803902003747,
              0.432422639794326
            ],
            [
              0.07546336409165037,
              -0.006507672175150477,
              0.4075846108328578
            ],
            [
              0.08192890511286967,
              -0.0012140220412851085,
              0.3833005982477882
            ],
            [
              0.08944743686721698,
              0.005457357344864364,
              0.35966794993495516
            ],
            [
              0.09782954832335496,
              0.013406562368786136,
              0.33673130748900865
            ],
            [
              0.10687714851528131,
              0.022473495516113037,
              0.31447216682720236
            ],
            [
              0.11639778894046074,
              0.03244394970297193,
              0.2928045257726057
            ],
            [
              0.12621437965723967,
              0.04305620354638474,
              0.271578308398911
            ],
            [
              0.13616968236740384,
              0.05400731303752541,
              0.25059011246570356
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.32000000000000023
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13579178889111962,
            0.05371310342849305,
            0.25240581591449895
          ],
          "endpoint_velocity": [
            -0.01855361391544791,
            -0.013941894805998556,
            0.09480170894213333
          ],
          "last_action": [
            -0.043030512510995156,
            -0.03936060890328226,
            0.24820434122257853
          ],
          "reason": "running",
          "reward": 0.0018662356630622806,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04606006869233401,
              -0.0008912578814872047,
              0.6843968827540379
            ],
            [
              0.057860697738426004,
              -0.002724242401206987,
              0.661660924974176
            ],
            [
              0.06304104239104918,
              -0.005159368953716748,
              0.6366254972315954
            ],
            [
              0.0642142122074314,
              -0.007869062796497121,
              0.6111143293602298
            ],
            [
              0.06339846539454971,
              -0.010579363027416175,
              0.5855892968608142
            ],
            [
              0.06196924267903091,
              -0.013035497898184898,
              0.5600655201373999
            ],
            [
              0.06083076755749417,
              -0.014982343729545941,
              0.534483258313878
            ],
            [
              0.06056313458246753,
              -0.016165974219855744,
              0.5088304642018566
            ],
            [
              0.06151870432110714,
              -0.016346716079748566,
              0.4831674037227293
            ],
            [
              0.06388261296969949,
              -0.015315868517835911,
              0.4576157505836792
            ],
            [
              0.06771253756979898,
              -0.012911617970788727,
              0.43233551172932433
            ],
            [
              0.072967649750926,
              -0.009031836907184992,
              0.40749866845576416
            ],
            [
              0.07953265089431372,
              -0.0036424885286620795,
              0.3832624372365566
            ],
            [
              0.08723970053783212,
              0.0032188232759314712,
              0.35974517814784457
            ],
            [
              0.09588934703696375,
              0.011444199915984277,
              0.3370060925409431
            ],
            [
              0.10526967195274153,
              0.02086063937201769,
              0.3150316104906554
            ],
            [
              0.11517246428589901,
              0.03123777048202872,
              0.2937292849462306
            ],
            [
              0.12540434535946085,
              0.04229590558981196,
              0.2729311132340916
            ],
            [
              0.13579178889111962,
              0.05371310342849305,
              0.25240581591449895
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.34000000000000025
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1353845246935661,
            0.053385708929965144,
            0.25427025887177857
          ],
          "endpoint_velocity": [
            -0.019417202679358758,
            -0.014996457752135817,
            0.0965947767473041
          ],
          "last_action": [
            -0.03875517590704107,
            -0.035864158317085865,
            0.22914674781163938
          ],
          "reason": "running",
          "reward": 0.0019253736672171788,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04599384933533739,
              -0.0009728792311999215,
              0.6843156242273126
            ],
            [
              0.05762523245719198,
              -0.002977116408407184,
              0.6615070202737428
            ],
            [
              0.0625605471516097,
              -0.005645850689793137,
              0.6364459153399397
            ],
            [
              0.06344261115115189,
              -0.008627615736109668,
              0.6109533773217284
            ],
            [
              0.06231135481668926,
              -0.011631649370418815,
              0.5854732969582298
            ],
            [
              0.060559860664280006,
              -0.014389040160189041,
              0.560000418860786
            ],
            [
              0.05910983436997826,
              -0.016629801856828972,
              0.5344580057980902
            ],
            [
              0.05856006713358585,
              -0.01808325015205011,
              0.5088235817097754
            ],
            [
              0.05928219251244167,
              -0.01849158433845232,
              0.48315550323806083
            ],
            [
              0.06147936464528918,
              -0.017628215249713173,
              0.45758276937231296
            ],
            [
              0.06522376587995957,
              -0.015315815089007107,
              0.4322811590567772
            ],
            [
              0.07048356359476171,
              -0.011441230185208633,
              0.4074444964638333
            ],
            [
              0.07714575535827486,
              -0.0059654595423861,
              0.3832542017892734
            ],
            [
              0.08503803234291497,
              0.0010721655535659985,
              0.3598507514893782
            ],
            [
              0.09395076782988247,
              0.009555797958991058,
              0.337309004728809
            ],
            [
              0.10365800237254764,
              0.019299659681807566,
              0.3156211176672845
            ],
            [
              0.11393566335689338,
              0.030057615122300374,
              0.2946884804922918
            ],
            [
              0.12457426758395279,
              0.0415328430364765,
              0.27432486260767147
            ],
            [
              0.1353845246935661,
              0.053385708929965144,
              0.25427025887177857
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.36000000000000026
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13496764742984238,
            0.053046094198451084,
            0.25614398750439377
          ],
          "endpoint_velocity": [
            -0.019463259187786047,
            -0.015151467754155434,
            0.0962098342902957
          ],
          "last_action": [
            -0.03446663674052816,
            -0.03232657259527247,
            0.21005405128755059
          ],
          "reason": "running",
          "reward": 0.001937001921427525,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.045924596967373534,
              -0.0010496691842826697,
              0.6842312684297274
            ],
            [
              0.05738345822566938,
              -0.003213037291546157,
              0.6613499924295505
            ],
            [
              0.062074332177642674,
              -0.006097321414351126,
              0.6362658328668643
            ],
            [
              0.06267065000962743,
              -0.009329306898653881,
              0.6107955142749586
            ],
            [
              0.06123299734300322,
              -0.012603444846628613,
              0.5853642022795376
            ],
            [
              0.05917040003514122,
              -0.01563854516744888,
              0.5599462497127232
            ],
            [
              0.0574202741225373,
              -0.018151513833627064,
              0.5344480046344142
            ],
            [
              0.056598585525019576,
              -0.01985649002694131,
              0.5088363600497803
            ],
            [
              0.057095165961129214,
              -0.02047882231148397,
              0.4831672236268549
            ],
            [
              0.05913063740146959,
              -0.01977490018399069,
              0.4575762283631473
            ],
            [
              0.06279160282937958,
              -0.017552323379878054,
              0.4322543661852954
            ],
            [
              0.06805543290061715,
              -0.01368701143953513,
              0.407417113005483
            ],
            [
              0.07481170574520442,
              -0.008134893084377565,
              0.3832703538297991
            ],
            [
              0.08288384009313926,
              -0.0009368319954190579,
              0.3599773022357801
            ],
            [
              0.09205209532299827,
              0.007783629869265537,
              0.3376292405619928
            ],
            [
              0.10207648184481047,
              0.017828328529837033,
              0.3162247225199358
            ],
            [
              0.11271718979878095,
              0.028936036484050374,
              0.2956593784209212
            ],
            [
              0.12374902380956343,
              0.0407938882064579,
              0.27572880693335317
            ],
            [
              0.13496764742984238,
              0.053046094198451084,
              0.25614398750439377
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.3800000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13455620209933797,
            0.05271078999631902,
            0.25798386675056634
          ],
          "endpoint_velocity": [
            -0.018887052642034052,
            -0.014621756186749019,
            0.09357818373666106
          ],
          "last_action": [
            -0.030286349976184145,
            -0.028891672779626967,
            0.19141300057565067
          ],
          "reason": "running",
          "reward": 0.001899195441858218,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04585324413865258,
              -0.0011204719794204422,
              0.6841449390018456
            ],
            [
              0.05713885376628775,
              -0.0034282193388623225,
              0.6611917742579964
            ],
            [
              0.06158965137399092,
              -0.006506327257545512,
              0.6360869120477218
            ],
            [
              0.06191005871775976,
              -0.009962397333664176,
              0.6106410602627318
            ],
            [
              0.06017992001930511,
              -0.013478375955843839,
              0.585260300449181
            ],
            [
              0.0578222404287754,
              -0.01676284649167649,
              0.5598990691196829
            ],
            [
              0.05578813822236789,
              -0.01952156229650745,
              0.5344473428595109
            ],
            [
              0.054708975636385486,
              -0.021455320579009545,
              0.5088615178519302
            ],
            [
              0.05499142954623223,
              -0.022274198356394492,
              0.48319464984519467
            ],
            [
              0.05687277567849907,
              -0.02171874199535097,
              0.4575882113209738
            ],
            [
              0.06045375540481772,
              -0.01958217986314331,
              0.4322475146824919
            ],
            [
              0.06572106288678657,
              -0.015729754593168277,
              0.40740899660345237
            ],
            [
              0.07256718103961556,
              -0.010112228086488062,
              0.38330270527000765
            ],
            [
              0.08081160303478584,
              -0.002771673961685781,
              0.3601147027678618
            ],
            [
              0.09022475647516326,
              0.00616115161655023,
              0.3379531055969586
            ],
            [
              0.10055287328593307,
              0.01647635796500006,
              0.3168234058815079
            ],
            [
              0.11154074857930404,
              0.027898553091295013,
              0.2966159994496367
            ],
            [
              0.12294803828914277,
              0.040100118662664636,
              0.27710873854461726
            ],
            [
              0.13455620209933797,
              0.05271078999631902,
              0.25798386675056634
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.4000000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13416241480977606,
            0.0523927218847245,
            0.25974874749752647
          ],
          "endpoint_velocity": [
            -0.017786581941662633,
            -0.013567023639978193,
            0.08891796224297435
          ],
          "last_action": [
            -0.026315948307578024,
            -0.025671058650157945,
            0.17367212075233363
          ],
          "reason": "running",
          "reward": 0.0018144529610681815,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04578067438631767,
              -0.0011844147780740446,
              0.6840576654243895
            ],
            [
              0.05689459181528405,
              -0.0036198602480177772,
              0.6610340275918115
            ],
            [
              0.06111291159488452,
              -0.006867445325789473,
              0.6359103848682666
            ],
            [
              0.061170923249604735,
              -0.010518463047737028,
              0.6104898192069244
            ],
            [
              0.05916602713922307,
              -0.01424480543166265,
              0.5851593391813701
            ],
            [
              0.056533064734918724,
              -0.01774698299802648,
              0.5598543848132657
            ],
            [
              0.054234699950042466,
              -0.020721663734177713,
              0.534449518190229
            ],
            [
              0.05291573860267948,
              -0.02285830296549392,
              0.5088910838082088
            ],
            [
              0.05299814064264211,
              -0.02385350783607965,
              0.48322902560022324
            ],
            [
              0.05473480775687376,
              -0.0234334066915692,
              0.4576097908088434
            ],
            [
              0.05824017039731053,
              -0.021377772950597316,
              0.4322518330371563
            ],
            [
              0.06351029460889243,
              -0.017541547681869534,
              0.4074114051943193
            ],
            [
              0.07044093969259527,
              -0.011870227691478472,
              0.383341891116154
            ],
            [
              0.07884817561817462,
              -0.004406644528475541,
              0.3602518283316204
            ],
            [
              0.08849310219058805,
              0.004711932021816535,
              0.3382662382149582
            ],
            [
              0.09910865665083861,
              0.015264792348682246,
              0.3173979648950058
            ],
            [
              0.11042477291303318,
              0.0269635200914584,
              0.2975328069140193
            ],
            [
              0.12218664300911478,
              0.0394671684305479,
              0.2784316321075209
            ],
            [
              0.13416241480977606,
              0.0523927218847245,
              0.25974874749752647
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.4200000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13379638308044522,
            0.052101658620219864,
            0.2614037313238452
          ],
          "endpoint_velocity": [
            -0.016261546908866303,
            -0.012135628358493133,
            0.08262328288564766
          ],
          "last_action": [
            -0.02265319308705179,
            -0.02275406067090542,
            0.15718836865615401
          ],
          "reason": "success",
          "reward": 1.0016883237499967,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.025681480765342712,
              0.0,
              0.7
            ],
            [
              0.04570767569994981,
              -0.0012409513452824048,
              0.6839703396635978
            ],
            [
              0.0566533801145743,
              -0.00378627431462433,
              0.6608781041687377
            ],
            [
              0.06064937097216781,
              -0.007177524987494348,
              0.6357371031894518
            ],
            [
              0.06046124366908392,
              -0.010992743680986324,
              0.6103412931267793
            ],
            [
              0.05820203631238883,
              -0.014896280770122054,
              0.5850589507785343
            ],
            [
              0.05531619653135578,
              -0.01858273919822362,
              0.5598078041250305
            ],
            [
              0.05277571867566579,
              -0.02174179198153736,
              0.5344482928506061
            ],
            [
              0.05123681146835997,
              -0.024053625559925757,
              0.5089174165551515
            ],
            [
              0.051135023769074806,
              -0.025203310543626217,
              0.48326188463700187
            ],
            [
              0.052737701397349256,
              -0.02490415088286868,
              0.4576322218056199
            ],
            [
              0.05617238457959284,
              -0.02292354046173998,
              0.43225862620968614
            ],
            [
              0.06144450235757622,
              -0.019106589710372837,
              0.407415652353285
            ],
            [
              0.0684535063740689,
              -0.013393425418721214,
              0.38337874664264815
            ],
            [
              0.07701268673482707,
              -0.005827070769686014,
              0.360378129307234
            ],
            [
              0.08687451918091753,
              0.0034495805129443466,
              0.3385554983601102
            ],
            [
              0.09775933277939326,
              0.014206111809803263,
              0.31793134852746857
            ],
            [
              0.10938288681668304,
              0.02614237739993114,
              0.29838760848179685
            ],
            [
              0.12147666505445306,
              0.038905587260869,
              0.27966920334368695
            ],
            [
              0.13379638308044522,
              0.052101658620219864,
              0.2614037313238452
            ]
          ],
          "target": [
            0.13145243095252931,
            0.0497781402266345,
            0.2676905334192162
          ],
          "time": 0.44000000000000034
        }
      ]
    },
    {
      "control_latency_p50_seconds": 0.0026580625562928617,
      "control_latency_p95_seconds": 0.004003297997405753,
      "control_steps": 20,
      "episode_wall_seconds": 0.11796991608571261,
      "final_distance": 0.014991934663339914,
      "final_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.014991934663339914,
        "dwell_elapsed": 0.21900000000000017,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.3999999999999566,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 106829.97075229566,
          "density": 975.620378532833,
          "rope_length": 0.4920592529184613,
          "rope_radius": 0.003808182968817667,
          "twist": 106150.16725165973
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "success",
        "scene_hash": "d978e8af760d33128d55b218986118101747adf7108ffc8e2f59fc5403ee4a4a",
        "seed": 301,
        "simulation_time": 0.4000000000000003,
        "steps": 20,
        "success": true,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.5412651782103075
      },
      "final_observation_available": true,
      "final_speed": 0.07025630237545641,
      "policy": "feedback",
      "reason": "success",
      "reset_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.08516959040534794,
        "dwell_elapsed": 0.0,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.0000000000000007,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 106829.97075229566,
          "density": 975.620378532833,
          "rope_length": 0.4920592529184613,
          "rope_radius": 0.003808182968817667,
          "twist": 106150.16725165973
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "running",
        "scene_hash": "d978e8af760d33128d55b218986118101747adf7108ffc8e2f59fc5403ee4a4a",
        "seed": 301,
        "simulation_time": 0.0,
        "steps": 0,
        "success": false,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.5412651782103075
      },
      "reward": 1.0701193603834713,
      "seed": 301,
      "setup_seconds": 0.0586225000442937,
      "simulated_seconds": 0.4000000000000003,
      "simulated_seconds_per_wall_second": 3.390694960818443,
      "step_loop_seconds": 0.05926554393954575,
      "success": true,
      "trace": [
        {
          "endpoint_position": [
            0.05647966647526659,
            0.0,
            0.24853824371403943
          ],
          "endpoint_velocity": [
            0.7019989613057191,
            0.0,
            -0.014559605089766519
          ],
          "last_action": [
            0.0,
            0.0,
            0.0
          ],
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04495027751279826,
              0.0,
              0.6861691450107558
            ],
            [
              0.05802181859786756,
              0.0,
              0.6653259088524782
            ],
            [
              0.06502613040542919,
              0.0,
              0.6417410518612393
            ],
            [
              0.06795473888388581,
              0.0,
              0.6173130123251928
            ],
            [
              0.06844141855758572,
              0.0,
              0.5927148693164764
            ],
            [
              0.06761147273496868,
              0.0,
              0.568125907298403
            ],
            [
              0.06618266751727489,
              0.0,
              0.5435644664032797
            ],
            [
              0.06458660512888102,
              0.0,
              0.5190133269582948
            ],
            [
              0.06306318054597941,
              0.0,
              0.49445757323874984
            ],
            [
              0.06172763617211714,
              0.0,
              0.4698908847272678
            ],
            [
              0.06061716945261603,
              0.0,
              0.4453130086263034
            ],
            [
              0.059723078639324814,
              0.0,
              0.4207262805390196
            ],
            [
              0.05901267542404939,
              0.0,
              0.39613358940443233
            ],
            [
              0.0584438517802445,
              0.0,
              0.37153718649500894
            ],
            [
              0.057974382980762545,
              0.0,
              0.3469387164406378
            ],
            [
              0.05756741938445769,
              0.0,
              0.32233913289536686
            ],
            [
              0.05719427528841096,
              0.0,
              0.2977389833042764
            ],
            [
              0.05683532834566244,
              0.0,
              0.27313865226866285
            ],
            [
              0.05647966647526659,
              0.0,
              0.24853824371403943
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.0
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.09318642778352786,
            0.02435658425115025,
            0.2517875086840352
          ],
          "endpoint_velocity": [
            2.6245143106056728,
            2.0523833680782815,
            0.524453893101821
          ],
          "last_action": [
            0.44781402069856246,
            0.4598455321629802,
            0.45776975718422164
          ],
          "reason": "running",
          "reward": 0.03869325033338169,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04498472159467527,
              -0.00011172965995173933,
              0.6862204067308165
            ],
            [
              0.05814490802758242,
              -0.00031439395427730827,
              0.6654340145445011
            ],
            [
              0.06529651040433898,
              -0.0005540498890863017,
              0.6418946217810414
            ],
            [
              0.06844844333300783,
              -0.0007816486428215942,
              0.6174954541555832
            ],
            [
              0.06926439519855157,
              -0.0009542509235466659,
              0.5929066370309661
            ],
            [
              0.06890796076336968,
              -0.0010296481667278602,
              0.5683063701026608
            ],
            [
              0.06814039503996841,
              -0.0009633705613276203,
              0.5437154711086423
            ],
            [
              0.06743945141436788,
              -0.0007083864600822948,
              0.5191238155251607
            ],
            [
              0.0670915377185688,
              -0.0002162993556291831,
              0.49452823320766637
            ],
            [
              0.06725655780328776,
              0.0005607785598750383,
              0.46993809735038383
            ],
            [
              0.06801228058803413,
              0.0016679832806656787,
              0.4453716952786853
            ],
            [
              0.06938407829807768,
              0.0031450928030820236,
              0.420851440081768
            ],
            [
              0.07136407253476022,
              0.005023431768355266,
              0.3964003338588643
            ],
            [
              0.07392250090275196,
              0.007322218675285354,
              0.37203895829296446
            ],
            [
              0.0770132345154955,
              0.010044254823771514,
              0.3477831751699467
            ],
            [
              0.08057498589775011,
              0.013171038387377161,
              0.32364104846978103
            ],
            [
              0.0845292468626386,
              0.016657289180862102,
              0.29960947606914684
            ],
            [
              0.08877579918750397,
              0.020424935848021675,
              0.27567045432820886
            ],
            [
              0.09318642778352786,
              0.02435658425115025,
              0.2517875086840352
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.02000000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.11749715139431086,
            0.04248902417756782,
            0.25636105481074645
          ],
          "endpoint_velocity": [
            0.40995593160276533,
            0.2884752017565117,
            0.05129478783808908
          ],
          "last_action": [
            -0.39988242970903864,
            -0.29681615236809267,
            0.290523732936367
          ],
          "reason": "running",
          "reward": 0.018615515954852654,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.045132495175219625,
              -6.544146423344765e-05,
              0.6864412469757389
            ],
            [
              0.05872031601876483,
              -9.529365271996376e-05,
              0.6659308614732931
            ],
            [
              0.06656990857187306,
              -1.4514762148687562e-05,
              0.6426138454824815
            ],
            [
              0.07065129384022092,
              0.00022729265406537345,
              0.6183529780895065
            ],
            [
              0.07259753480627608,
              0.0006727919983867013,
              0.5938311679397987
            ],
            [
              0.07355113015637517,
              0.0013647292508723744,
              0.5692564300583558
            ],
            [
              0.07425499103902117,
              0.002346214449029543,
              0.5446831288992031
            ],
            [
              0.07516552288456185,
              0.003657967915027768,
              0.5201320373186352
            ],
            [
              0.07654154434060852,
              0.005335147569787488,
              0.49562490577386037
            ],
            [
              0.07850806434622454,
              0.007404759326317252,
              0.4711881431110303
            ],
            [
              0.081101236537798,
              0.00988381047857264,
              0.44684815762749247
            ],
            [
              0.08429998231431135,
              0.012778062338215396,
              0.42262630947235297
            ],
            [
              0.08804809881826745,
              0.016081147017272947,
              0.3985359299766865
            ],
            [
              0.09226961215752408,
              0.019773979975235677,
              0.3745807967837464
            ],
            [
              0.09687918968239476,
              0.02382430501588791,
              0.3507553525680187
            ],
            [
              0.10178917550528874,
              0.028186493009890845,
              0.32704526009469764
            ],
            [
              0.10691420891699262,
              0.03280152396335989,
              0.30342869560601976
            ],
            [
              0.11217430669294019,
              0.037597242960338846,
              0.27987795080550515
            ],
            [
              0.11749715139431086,
              0.04248902417756782,
              0.25636105481074645
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.04000000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12870118148223927,
            0.05209770718083417,
            0.2595610783297131
          ],
          "endpoint_velocity": [
            0.5575253638032194,
            0.5393103399012042,
            0.19524788522674086
          ],
          "last_action": [
            -0.08935007106614176,
            -0.03716351005182596,
            0.3630780479851876
          ],
          "reason": "running",
          "reward": 0.0008192067968422455,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04528015310638139,
              2.565866926504991e-05,
              0.6866673742898209
            ],
            [
              0.059264559368089303,
              0.0002046456469280844,
              0.6664260792458344
            ],
            [
              0.06770891960121272,
              0.000592621245878827,
              0.6433209257431501
            ],
            [
              0.07251230426483078,
              0.0012160106288534073,
              0.6191994675648962
            ],
            [
              0.07525395148265743,
              0.002099135497507533,
              0.5947657008151418
            ],
            [
              0.07703878954582863,
              0.0032711844221618687,
              0.5702555698974742
            ],
            [
              0.07858200224043027,
              0.004764478880569395,
              0.545746501587266
            ],
            [
              0.08031811808049272,
              0.0066107703821548305,
              0.5212744160064293
            ],
            [
              0.08248840054980322,
              0.008838001867306298,
              0.49686877778265626
            ],
            [
              0.08520437810724317,
              0.011468000437875188,
              0.47255803043459993
            ],
            [
              0.08849296743234561,
              0.014514879577194228,
              0.44836698172375056
            ],
            [
              0.09232824127314206,
              0.0179838177433341,
              0.4243136297954633
            ],
            [
              0.09665347098834161,
              0.02186990449923102,
              0.4004076504679837
            ],
            [
              0.10139617181714052,
              0.026156999984327356,
              0.37664982654468177
            ],
            [
              0.10647794121580995,
              0.03081645218105959,
              0.35303266636453745
            ],
            [
              0.11182068213913948,
              0.035805850888003685,
              0.32954083480676394
            ],
            [
              0.11735015544718234,
              0.041067765665862545,
              0.30615186787304427
            ],
            [
              0.12299774556360552,
              0.04652859641270667,
              0.28283686876515923
            ],
            [
              0.12870118148223927,
              0.05209770718083417,
              0.2595610783297131
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.060000000000000046
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13080612753896162,
            0.05488178689588883,
            0.26014414916425216
          ],
          "endpoint_velocity": [
            -0.22742597418340937,
            -0.1397001154298068,
            -0.07672939422890081
          ],
          "last_action": [
            -0.23828272999553946,
            -0.19595912462066256,
            0.2950895384483582
          ],
          "reason": "running",
          "reward": -0.0010876653216620447,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04538102812650155,
              7.737466766256584e-05,
              0.6868253356748227
            ],
            [
              0.05962879773617946,
              0.00037760039204060404,
              0.6667699970949746
            ],
            [
              0.06845777379170923,
              0.0009474222432464912,
              0.6438128555467874
            ],
            [
              0.07371604771711986,
              0.0018006547056423556,
              0.6197935213993719
            ],
            [
              0.07694544230840365,
              0.0029511293267327366,
              0.5954305799656684
            ],
            [
              0.07922464295612061,
              0.004418944511626015,
              0.5709774283040691
            ],
            [
              0.08124831349231071,
              0.006227166917624289,
              0.5465245971288014
            ],
            [
              0.08343272835707954,
              0.008397214856695437,
              0.522115068521402
            ],
            [
              0.0860016217877795,
              0.010945400890004823,
              0.49777963350009835
            ],
            [
              0.08904934680146771,
              0.013880863338737403,
              0.4735432910440313
            ],
            [
              0.09258628556438421,
              0.017204471955587507,
              0.4494238213168823
            ],
            [
              0.09657130550793841,
              0.02090827856149869,
              0.4254299048150703
            ],
            [
              0.10093478078786534,
              0.024975176816198513,
              0.40156098041456856
            ],
            [
              0.10559487806949906,
              0.02937874274134317,
              0.3778081132847028
            ],
            [
              0.11046889043462267,
              0.03408313204490602,
              0.35415609741470505
            ],
            [
              0.11548121982198667,
              0.039043264912123316,
              0.330585379011958
            ],
            [
              0.1205689591357566,
              0.04420528555630127,
              0.30707421043265
            ],
            [
              0.12568596205158658,
              0.0495074702498066,
              0.2836006455435066
            ],
            [
              0.13080612753896162,
              0.05488178689588883,
              0.26014414916425216
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.08000000000000006
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12890336032487204,
            0.05424854418207689,
            0.2598538638185873
          ],
          "endpoint_velocity": [
            -0.06793426797385116,
            -0.00655574509248906,
            -0.0006880249599141419
          ],
          "last_action": [
            -0.06309435606610572,
            -0.05404730793845642,
            0.35725314996687796
          ],
          "reason": "running",
          "reward": 0.0006997401485997508,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04543126138813057,
              8.048193830779366e-05,
              0.6869049144256457
            ],
            [
              0.05979278277075693,
              0.0003812178221874649,
              0.6669308827496697
            ],
            [
              0.06876040093400683,
              0.0009455011275057456,
              0.6440274054585633
            ],
            [
              0.07414817533758854,
              0.0017853568123401844,
              0.620036315600045
            ],
            [
              0.0774776082789398,
              0.0029136330759982542,
              0.5956858050192796
            ],
            [
              0.07981673052133491,
              0.004349924204389296,
              0.5712364402397117
            ],
            [
              0.08185517517250752,
              0.006117266039519449,
              0.5467818474310664
            ],
            [
              0.08400753226105676,
              0.008237618846923034,
              0.5223651046890411
            ],
            [
              0.08649805675243824,
              0.010728503661416023,
              0.4980155945544717
            ],
            [
              0.0894232400783035,
              0.013600973843270345,
              0.47375661517035134
            ],
            [
              0.09279689054108158,
              0.01685848710764769,
              0.44960475768781216
            ],
            [
              0.09658237860230601,
              0.02049623865846731,
              0.42556846345984767
            ],
            [
              0.10071549047382404,
              0.0245006138069746,
              0.4016480224961652
            ],
            [
              0.10512052157717168,
              0.028848724861745924,
              0.37783633990852855
            ],
            [
              0.10972134156949952,
              0.03350790720351568,
              0.35412074155483275
            ],
            [
              0.11444896678565004,
              0.03843540197773435,
              0.3304844456302352
            ],
            [
              0.11924654927931705,
              0.043578216634045194,
              0.30690815974700636
            ],
            [
              0.12407263023507276,
              0.048873342334200195,
              0.28337147101648336
            ],
            [
              0.12890336032487204,
              0.05424854418207689,
              0.2598538638185873
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.10000000000000007
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12608091788381537,
            0.05249301527318415,
            0.25928975811157995
          ],
          "endpoint_velocity": [
            -0.2007854880779187,
            -0.1493889710128452,
            -0.04723185683377789
          ],
          "last_action": [
            -0.08393961047759949,
            -0.08100097338466646,
            0.34114566110627964
          ],
          "reason": "running",
          "reward": 0.0008770274647288921,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04544923231140544,
              4.240532758994202e-05,
              0.6869333625266748
            ],
            [
              0.05983655973632269,
              0.0002600824230229287,
              0.6669768321133307
            ],
            [
              0.0688108336459903,
              0.0007064747258221485,
              0.6440733606537244
            ],
            [
              0.07417070836738288,
              0.001405182679873314,
              0.6200714979476623
            ],
            [
              0.07743364472344377,
              0.002378600730418496,
              0.5957053082533907
            ],
            [
              0.07967007644139294,
              0.0036542242251531706,
              0.5712374309227891
            ],
            [
              0.08157506962277442,
              0.005261938683078381,
              0.5467610725662972
            ],
            [
              0.08356967593815141,
              0.007229639802998544,
              0.5223181684601141
            ],
            [
              0.08588439251656012,
              0.009579717140039221,
              0.4979373340431729
            ],
            [
              0.08862094124025313,
              0.012326811590959722,
              0.4736418481176905
            ],
            [
              0.09179692268118693,
              0.015476541560512388,
              0.44944892615743054
            ],
            [
              0.0953779526438877,
              0.019024801351826805,
              0.4253679653526781
            ],
            [
              0.09930066913823023,
              0.0229572906175843,
              0.40140021715955004
            ],
            [
              0.10348916812786733,
              0.027249223893281473,
              0.3775393206677748
            ],
            [
              0.10786654192170225,
              0.0318650886097261,
              0.3537730100252285
            ],
            [
              0.11236299429487791,
              0.036758675527909734,
              0.3300846193433053
            ],
            [
              0.11692140593537935,
              0.041873381071911214,
              0.30645482317545103
            ],
            [
              0.12150116264072484,
              0.047142968992615046,
              0.282863248373516
            ],
            [
              0.12608091788381537,
              0.05249301527318415,
              0.25928975811157995
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.12000000000000009
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12398323072337938,
            0.051015815129343445,
            0.25905356089295173
          ],
          "endpoint_velocity": [
            -0.052000006948903776,
            -0.03361778900047199,
            0.006199479857969925
          ],
          "last_action": [
            -0.02250238104101588,
            -0.02773737781565004,
            0.3584226761448194
          ],
          "reason": "running",
          "reward": 0.0005969093503637017,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04545152999649316,
              -1.7745010775073806e-05,
              0.6869369721511238
            ],
            [
              0.05982054182075818,
              6.892216502445828e-05,
              0.6669662518866177
            ],
            [
              0.06873274628099135,
              0.0003292524005233491,
              0.6440356892458489
            ],
            [
              0.07397933489740625,
              0.0008048836013905143,
              0.6200033579805386
            ],
            [
              0.07708134087428718,
              0.0015331881066961764,
              0.5956076077758616
            ],
            [
              0.07911846684391755,
              0.002554431920955094,
              0.571110402995511
            ],
            [
              0.08079778036374112,
              0.003910293076996044,
              0.5466022939329493
            ],
            [
              0.08255339348108551,
              0.00563992681018736,
              0.522123077178201
            ],
            [
              0.08462874302619018,
              0.0077763079021484225,
              0.49770106531819475
            ],
            [
              0.08713745560487761,
              0.010343603641533843,
              0.4733613607805713
            ],
            [
              0.09010733850506408,
              0.013355486461179436,
              0.4491247461776738
            ],
            [
              0.09351209900169256,
              0.016814073198032634,
              0.4250052026462406
            ],
            [
              0.09729413562959663,
              0.020709158971920102,
              0.4010087521643728
            ],
            [
              0.10138087839641463,
              0.025017669247122627,
              0.37713320255422195
            ],
            [
              0.105696274865149,
              0.02970317508217406,
              0.3533691852516526
            ],
            [
              0.11016881819841293,
              0.03471567611929516,
              0.32970114098402425
            ],
            [
              0.11473693794487166,
              0.03999164301035184,
              0.3061087046586481
            ],
            [
              0.11935252385097057,
              0.04545450502548408,
              0.2825681304235848
            ],
            [
              0.12398323072337938,
              0.051015815129343445,
              0.25905356089295173
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.1400000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12286876878412994,
            0.05016906241918005,
            0.25912804692972535
          ],
          "endpoint_velocity": [
            -0.05159748978820597,
            -0.042927325423623514,
            0.005381817016262027
          ],
          "last_action": [
            -0.038721879718909766,
            -0.04190817188033626,
            0.34742681415816457
          ],
          "reason": "running",
          "reward": 0.000421347244971176,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.045450108371026116,
              -8.745664711517842e-05,
              0.6869349841757333
            ],
            [
              0.05979267731517181,
              -0.00014828061932716606,
              0.6669451693588018
            ],
            [
              0.0686343105690341,
              -9.267823861338087e-05,
              0.643985894697476
            ],
            [
              0.07376300983925135,
              0.0001430339161402158,
              0.6199245824562346
            ],
            [
              0.0767068151440859,
              0.0006143040583176209,
              0.5955029238032608
            ],
            [
              0.0785573417665414,
              0.0013766679920128866,
              0.5709815001976272
            ],
            [
              0.08003562674468008,
              0.0024856467320890866,
              0.5464480393151465
            ],
            [
              0.08159012804822476,
              0.0039932165649512776,
              0.5219405583737878
            ],
            [
              0.08347774319800592,
              0.00594387975914732,
              0.49748779400360127
            ],
            [
              0.08582367268670682,
              0.008371520745516139,
              0.4731175449841496
            ],
            [
              0.0886647070114648,
              0.011297226030400256,
              0.4488549420215442
            ],
            [
              0.0919805661789683,
              0.0147278673682658,
              0.42471902740426376
            ],
            [
              0.0957166064921281,
              0.018655137056295675,
              0.4007206173413991
            ],
            [
              0.09980029957886097,
              0.023054938152149915,
              0.3768611999656388
            ],
            [
              0.10415300284569746,
              0.027886947572168048,
              0.35313335157592585
            ],
            [
              0.10869834279329112,
              0.03309453612806624,
              0.32952136232972373
            ],
            [
              0.11336797458846357,
              0.03860502263450722,
              0.3060025257560264
            ],
            [
              0.11810544374447254,
              0.04433044193121321,
              0.28254871817938226
            ],
            [
              0.12286876878412994,
              0.05016906241918005,
              0.25912804692972535
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.16000000000000011
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12253580176171851,
            0.04989686881643102,
            0.25950814110191633
          ],
          "endpoint_velocity": [
            0.0097733467196926,
            0.008479352800678658,
            0.02937374841543015
          ],
          "last_action": [
            -0.027677889616589825,
            -0.031113260672914457,
            0.3468863695008553
          ],
          "reason": "running",
          "reward": 0.00046303409672001744,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04544947817685807,
              -0.0001583690351562507,
              0.6869346457566464
            ],
            [
              0.05976870805342381,
              -0.0003691771338296049,
              0.666929124129456
            ],
            [
              0.06854585565001901,
              -0.0005215243891216478,
              0.6439455575312075
            ],
            [
              0.07356582264233387,
              -0.0005289745015663456,
              0.6198601731853718
            ],
            [
              0.07636361267467875,
              -0.00031731664209516593,
              0.5954177291899876
            ],
            [
              0.0780427896161023,
              0.00018498756821414296,
              0.5708772744575578
            ],
            [
              0.07933857054438095,
              0.0010481920940849114,
              0.5463236251783332
            ],
            [
              0.08071419577976047,
              0.0023382026777301734,
              0.5217930444452847
            ],
            [
              0.08244069665747682,
              0.004112362830513897,
              0.49731494374963725
            ],
            [
              0.08465572071622361,
              0.00641571653936846,
              0.47292039326585467
            ],
            [
              0.08740603582235505,
              0.009278219128013819,
              0.44863980481094967
            ],
            [
              0.0906783837356801,
              0.01271283260776793,
              0.42449851723552634
            ],
            [
              0.09442198422767967,
              0.016714232046403807,
              0.40051353468689266
            ],
            [
              0.09856503280165622,
              0.021258013292015855,
              0.3766913644052803
            ],
            [
              0.10302663186771277,
              0.02630019007938064,
              0.3530275583507124
            ],
            [
              0.10772539660674864,
              0.03177713655815619,
              0.3295067208408511
            ],
            [
              0.11258542797636507,
              0.03760592252599381,
              0.30610347436417773
            ],
            [
              0.11754032257758124,
              0.04368520010975825,
              0.28278402896940347
            ],
            [
              0.12253580176171851,
              0.04989686881643102,
              0.25950814110191633
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.18000000000000013
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12258996556399171,
            0.04994659071994227,
            0.2600489222863598
          ],
          "endpoint_velocity": [
            0.0035084180131331327,
            0.0037821643031294705,
            0.028966577955889097
          ],
          "last_action": [
            -0.039690928519450094,
            -0.04124299420149965,
            0.33708744492915343
          ],
          "reason": "running",
          "reward": 0.0005091482532894982,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.0454504325770248,
              -0.00022818693161636916,
              0.6869372016691216
            ],
            [
              0.05975223873694013,
              -0.0005861917320840792,
              0.6669213116560487
            ],
            [
              0.0684762082181738,
              -0.0009418211708709126,
              0.6439197519831155
            ],
            [
              0.07340405186094011,
              -0.0011856901574187136,
              0.6198165831428035
            ],
            [
              0.07607722400431793,
              -0.0012245946966650725,
              0.5953593115510918
            ],
            [
              0.07761059385661619,
              -0.0009707646332579156,
              0.5708054888265197
            ],
            [
              0.07875284923969539,
              -0.0003390128514887288,
              0.5462371757887713
            ],
            [
              0.07998123834089113,
              0.0007506331479852073,
              0.521689068020419
            ],
            [
              0.08158007254472922,
              0.002368380515825105,
              0.49719146638602996
            ],
            [
              0.08369849368472347,
              0.004570276533939434,
              0.4727789734982937
            ],
            [
              0.0863921796798651,
              0.0073947538075801655,
              0.4484875858504102
            ],
            [
              0.08965371709913346,
              0.010860210569712531,
              0.4243492433324794
            ],
            [
              0.09343494428192087,
              0.014963407745923992,
              0.40038737312385925
            ],
            [
              0.09766355795912238,
              0.01967857058142885,
              0.37661359214093404
            ],
            [
              0.10225534569880923,
              0.02495695186716327,
              0.35302632213515445
            ],
            [
              0.10712320224361813,
              0.030726977962622373,
              0.32961017596448067
            ],
            [
              0.11218354239843265,
              0.036894882033157876,
              0.30633666068821264
            ],
            [
              0.11736071610162299,
              0.04334595020556418,
              0.2831658660999504
            ],
            [
              0.12258996556399171,
              0.04994659071994227,
              0.2600489222863598
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.20000000000000015
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12276248498518154,
            0.05011510767708927,
            0.2607006367979324
          ],
          "endpoint_velocity": [
            0.014023468720594262,
            0.014211517888197217,
            0.036913207557752015
          ],
          "last_action": [
            -0.038666334365542246,
            -0.040565916112224897,
            0.3317814256996042
          ],
          "reason": "running",
          "reward": 0.0005761577673547768,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.045451545551952084,
              -0.00029691869393588924,
              0.6869403598006375
            ],
            [
              0.05973730644621339,
              -0.0008009499058896465,
              0.6669161577416851
            ],
            [
              0.06841124431627046,
              -0.001359237054555362,
              0.6438997075270938
            ],
            [
              0.0732516901326531,
              -0.001839640337211695,
              0.6197823867766578
            ],
            [
              0.07580603705040288,
              -0.00212995879840686,
              0.5953141109159248
            ],
            [
              0.07719989016281337,
              -0.0021260799712701107,
              0.5707506620202493
            ],
            [
              0.07819491803958085,
              -0.001727644932932001,
              0.5461710559973811
            ],
            [
              0.07928204924954171,
              -0.0008402109438354184,
              0.5216081475815998
            ],
            [
              0.080758752554757,
              0.0006198591991349772,
              0.4970929807308376
            ],
            [
              0.08278574316828947,
              0.002720293777125786,
              0.47266379026469707
            ],
            [
              0.08542784668809109,
              0.005508705049385148,
              0.448362572568111
            ],
            [
              0.08868382444350921,
              0.00900955798180228,
              0.424228587525805
            ],
            [
              0.09250848677170892,
              0.01322217525682037,
              0.4002926115954413
            ],
            [
              0.09682935215242522,
              0.018119679016624486,
              0.37657234229459075
            ],
            [
              0.10155914162650925,
              0.023648598459866933,
              0.35306988984191123
            ],
            [
              0.10660517814545553,
              0.029729221545222544,
              0.3297703476079363
            ],
            [
              0.111876210884774,
              0.036256534938375266,
              0.30664207507951247
            ],
            [
              0.11728719110426222,
              0.04310182395738555,
              0.2836384136039994
            ],
            [
              0.12276248498518154,
              0.05011510767708927,
              0.2607006367979324
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.22000000000000017
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12289318682891537,
            0.05027180350627976,
            0.26140893150943084
          ],
          "endpoint_velocity": [
            0.003321378074521847,
            0.006328796571315132,
            0.036826663312185384
          ],
          "last_action": [
            -0.04302029125430582,
            -0.044858424079961844,
            0.3232776231834126
          ],
          "reason": "running",
          "reward": 0.0006341515955970942,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04545129942624025,
              -0.0003658942261881596,
              0.6869417173048333
            ],
            [
              0.05971837417262362,
              -0.001017355025759948,
              0.6669084485526773
            ],
            [
              0.06833958033985604,
              -0.001781003884746145,
              0.6438780879858738
            ],
            [
              0.07309058931856063,
              -0.002501709108942184,
              0.6197489694595201
            ],
            [
              0.07552491924561502,
              -0.003047964386187397,
              0.5952728353783302
            ],
            [
              0.07677880474799885,
              -0.003299009069090083,
              0.5707031261633468
            ],
            [
              0.0776266770077398,
              -0.0031389789359299583,
              0.5461152965278874
            ],
            [
              0.07857292011442042,
              -0.00245856940344881,
              0.5215399525822595
            ],
            [
              0.07992797343728981,
              -0.0011602758996778768,
              0.49700866383370434
            ],
            [
              0.08186397336657748,
              0.0008357362792424515,
              0.4725633431597975
            ],
            [
              0.08445474104710296,
              0.0035865902248946088,
              0.44825231982953195
            ],
            [
              0.08770501893520471,
              0.007122976733137288,
              0.4241227475056204
            ],
            [
              0.09157232941494885,
              0.011446721030639716,
              0.4002134548587737
            ],
            [
              0.09598369477518806,
              0.016529567171375107,
              0.37654890062277474
            ],
            [
              0.10084844005303872,
              0.022312884715338665,
              0.3531353869706807
            ],
            [
              0.10606805383848095,
              0.02870832295743713,
              0.32995869325497124
            ],
            [
              0.11154352112011746,
              0.035599176771886135,
              0.3069838812170881
            ],
            [
              0.11718056068180745,
              0.042842459220040034,
              0.28415705983684136
            ],
            [
              0.12289318682891537,
              0.05027180350627976,
              0.26140893150943084
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.24000000000000019
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1229404374198772,
            0.05036807108496043,
            0.2621797858636299
          ],
          "endpoint_velocity": [
            0.0021725201154016993,
            0.005535859069932175,
            0.04144342852955035
          ],
          "last_action": [
            -0.041651787030126015,
            -0.04445470204264618,
            0.3162163121298196
          ],
          "reason": "running",
          "reward": 0.0007155697987509768,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04544840925209822,
              -0.0004361485820698703,
              0.6869392610377298
            ],
            [
              0.059690498400446504,
              -0.0012388519934848409,
              0.6668937068220893
            ],
            [
              0.06825045420528972,
              -0.0022142122518340416,
              0.6438484970773223
            ],
            [
              0.07290251125235632,
              -0.0031836851538480466,
              0.6197088129303033
            ],
            [
              0.07520693871557833,
              -0.00399602269926861,
              0.5952274890616662
            ],
            [
              0.07631085681322973,
              -0.00451340670217138,
              0.5706547492506082
            ],
            [
              0.07700158925744166,
              -0.004604000967070365,
              0.5460616497191457
            ],
            [
              0.07779713917050488,
              -0.004143041810085166,
              0.5214758717126202
            ],
            [
              0.07902118744182123,
              -0.0030184197751090347,
              0.49692912458998356
            ],
            [
              0.08085766962981122,
              -0.001137374421172424,
              0.47246701379094647
            ],
            [
              0.08338983354391391,
              0.0015675245423397235,
              0.44814466198280944
            ],
            [
              0.08662880785021546,
              0.005133850036977903,
              0.4240179762524848
            ],
            [
              0.09053513124155611,
              0.009566350742489974,
              0.4001349549815614
            ],
            [
              0.09503548452813637,
              0.014835528774064449,
              0.37652798186792436
            ],
            [
              0.10003578764538772,
              0.020877450183618,
              0.35320852037358735
            ],
            [
              0.10543153546279814,
              0.02759475028661416,
              0.33016358785499056
            ],
            [
              0.11111566281906148,
              0.034858492626955596,
              0.30735491976955975
            ],
            [
              0.11698425479058358,
              0.04251076751397213,
              0.28472071010156375
            ],
            [
              0.1229404374198772,
              0.05036807108496043,
              0.2621797858636299
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.2600000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12290749644313616,
            0.050398102262357226,
            0.2630161875730918
          ],
          "endpoint_velocity": [
            -0.0035489406956275005,
            0.0007326267286833499,
            0.04419981444979971
          ],
          "last_action": [
            -0.041837078449964316,
            -0.04521914345410714,
            0.3073535772834879
          ],
          "reason": "running",
          "reward": 0.0008031792576637274,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.045442187897252365,
              -0.0005082604214560877,
              0.6869319422137298
            ],
            [
              0.05965130150433491,
              -0.0014668828559680242,
              0.6668698432852165
            ],
            [
              0.0681392679964468,
              -0.0026611365386395754,
              0.6438083158820944
            ],
            [
              0.07268062964840341,
              -0.0038884501798034524,
              0.6196592869416362
            ],
            [
              0.07484340161738143,
              -0.004977297100071904,
              0.595175775625314
            ],
            [
              0.07578607642168399,
              -0.005772347512851026,
              0.5706037361851451
            ],
            [
              0.07630913298083002,
              -0.006125319755578712,
              0.5460088650607311
            ],
            [
              0.07694441428739805,
              -0.005895419078613988,
              0.5214151783396436
            ],
            [
              0.07802910258291192,
              -0.004955250975776652,
              0.49685412383388744
            ],
            [
              0.07975923105479857,
              -0.0031984023971801173,
              0.47237503067794334
            ],
            [
              0.08222775651500244,
              -0.0005464712591206518,
              0.44804030706618236
            ],
            [
              0.08545238419109859,
              0.00304548068952601,
              0.4239155012852106
            ],
            [
              0.08939670430947554,
              0.0075853372821378055,
              0.40005890532325983
            ],
            [
              0.093986910954973,
              0.013042266618856692,
              0.37651196238821777
            ],
            [
              0.09912521538469547,
              0.01934667121837407,
              0.3532921983885006
            ],
            [
              0.10470071873323183,
              0.02639163642207882,
              0.33038832627790476
            ],
            [
              0.11059788990001156,
              0.03403540034792634,
              0.3077586368921431
            ],
            [
              0.1167028219847635,
              0.04210458328977913,
              0.28533268717176424
            ],
            [
              0.12290749644313616,
              0.050398102262357226,
              0.2630161875730918
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.2800000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12282114450811785,
            0.05037542006315056,
            0.2639358635822941
          ],
          "endpoint_velocity": [
            -0.0043102551587897164,
            -0.0005086841537712272,
            0.04928708518530577
          ],
          "last_action": [
            -0.04007730347979657,
            -0.044318647142762915,
            0.29830046370880636
          ],
          "reason": "running",
          "reward": 0.0009019773408857128,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.0454322735260928,
              -0.0005822102506646429,
              0.6869192274112733
            ],
            [
              0.05959955657989614,
              -0.001701224080629245,
              0.6668358616871187
            ],
            [
              0.06800366179872128,
              -0.0031211340082200932,
              0.6437564177063122
            ],
            [
              0.07242139694836393,
              -0.004614784159281888,
              0.6195994624228212
            ],
            [
              0.07442963280013888,
              -0.005989924490002726,
              0.5951171938511278
            ],
            [
              0.0751987722233086,
              -0.00707335681278977,
              0.5705501333402648
            ],
            [
              0.07554274433225985,
              -0.007699962167751354,
              0.5459575549453072
            ],
            [
              0.07600749775116618,
              -0.007712390896912132,
              0.5213589835847373
            ],
            [
              0.07694405170835009,
              -0.006967284396467367,
              0.4967851449309369
            ],
            [
              0.07856094760207802,
              -0.005343800229577509,
              0.47228910831226245
            ],
            [
              0.08096127501054147,
              -0.0027518073625291185,
              0.44794110775207624
            ],
            [
              0.08416965962993643,
              0.0008615971279029746,
              0.423817339958819
            ],
            [
              0.08815292163726544,
              0.0055077598821918605,
              0.39998769612154966
            ],
            [
              0.0928367340552512,
              0.011154517959608748,
              0.3765040290129252
            ],
            [
              0.09811935731101476,
              0.01772631245452675,
              0.35339103399662075
            ],
            [
              0.10388309859865043,
              0.025106169192013784,
              0.33063972346573367
            ],
            [
              0.11000347193660451,
              0.033138898416854926,
              0.30820486470030156
            ],
            [
              0.11635605613368985,
              0.041635054330848395,
              0.28600655083024523
            ],
            [
              0.12282114450811785,
              0.05037542006315056,
              0.2639358635822941
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.3000000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12270126150097618,
            0.05031456370552931,
            0.26494452488529074
          ],
          "endpoint_velocity": [
            -0.006267861767079469,
            -0.002558321974304334,
            0.053690624725948155
          ],
          "last_action": [
            -0.039023455513822906,
            -0.04378149743008259,
            0.287831885932907
          ],
          "reason": "running",
          "reward": 0.0010002319717164713,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.045418558786573165,
              -0.0006576087233683141,
              0.6869009817118725
            ],
            [
              0.059535099186737994,
              -0.0019403760729977816,
              0.6667916934364109
            ],
            [
              0.06784375317431314,
              -0.0035908818068791995,
              0.6436930362691227
            ],
            [
              0.07212571341293542,
              -0.0053569637058152285,
              0.6195300142222874
            ],
            [
              0.07396784918822341,
              -0.007025363754364881,
              0.5950529132165421
            ],
            [
              0.07455296731450253,
              -0.008404819400423749,
              0.5704956209779097
            ],
            [
              0.07470865508435608,
              -0.009313144154925315,
              0.5459099224795262
            ],
            [
              0.0749951217467421,
              -0.00957607071858722,
              0.521310030819842
            ],
            [
              0.07577743508701712,
              -0.00903375209969751,
              0.4967254881243194
            ],
            [
              0.07727692386986307,
              -0.007550282063033657,
              0.4722131093487869
            ],
            [
              0.07960709778868223,
              -0.005023171468224256,
              0.4478514769831359
            ],
            [
              0.08279970582615034,
              -0.001391069372472741,
              0.4237284240108114
            ],
            [
              0.08682483237902311,
              0.003361054633615023,
              0.39992672651601907
            ],
            [
              0.09160745517014834,
              0.009199615146890657,
              0.37650997339371217
            ],
            [
              0.09704152193630754,
              0.01604272490066652,
              0.35351110609012126
            ],
            [
              0.10300207077287275,
              0.023762820125034792,
              0.330924005407141
            ],
            [
              0.10935517141066735,
              0.0321907371079076,
              0.308699808592941
            ],
            [
              0.11596546989664647,
              0.04112052715724901,
              0.28674831812941154
            ],
            [
              0.12270126150097618,
              0.05031456370552931,
              0.26494452488529074
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.32000000000000023
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12256164165880626,
            0.05022502141663996,
            0.2660458560744471
          ],
          "endpoint_velocity": [
            -0.006495090169922835,
            -0.003417607545824375,
            0.05865953872186837
          ],
          "last_action": [
            -0.037335223790333834,
            -0.04266052439873681,
            0.2766443880177799
          ],
          "reason": "running",
          "reward": 0.0010974705503650078,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.0454010108662051,
              -0.0007338423092769965,
              0.6868771787435812
            ],
            [
              0.05945800948254041,
              -0.002182217136843313,
              0.6667374498440255
            ],
            [
              0.06766007437954477,
              -0.00406598148375512,
              0.6436185522382707
            ],
            [
              0.07179494926411255,
              -0.0061077889762578925,
              0.6194516390086655
            ],
            [
              0.07346058333392726,
              -0.008073333950877584,
              0.5949839502604353
            ],
            [
              0.0738525696948247,
              -0.00975331911642422,
              0.5704415408487424
            ],
            [
              0.07381223780995139,
              -0.010948468172723796,
              0.5458676552124205
            ],
            [
              0.0739140980862907,
              -0.01146741976590456,
              0.5212703753440534
            ],
            [
              0.07453738873420183,
              -0.011133467621542709,
              0.4966775746103379
            ],
            [
              0.07591644937856465,
              -0.009795116486115725,
              0.4721497766828392
            ],
            [
              0.07817547707755255,
              -0.00733695087879571,
              0.44777439267208613
            ],
            [
              0.08135355573789393,
              -0.003688706819224276,
              0.4236518569900537
            ],
            [
              0.08542409411911893,
              0.0011685629277737447,
              0.39987912517687424
            ],
            [
              0.09031123161333449,
              0.007199789898753705,
              0.3765328881191041
            ],
            [
              0.09590427117403769,
              0.01431643639571768,
              0.35365546734928965
            ],
            [
              0.1020705345985431,
              0.022379882352615413,
              0.3312442388097991
            ],
            [
              0.10866618700799881,
              0.03120653566491243,
              0.3092466444636303
            ],
            [
              0.11554455328639357,
              0.040573634395817716,
              0.2875613806036909
            ],
            [
              0.12256164165880626,
              0.05022502141663996,
              0.2660458560744471
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.34000000000000025
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12240653113590053,
            0.05011118825781051,
            0.2672337026222965
          ],
          "endpoint_velocity": [
            -0.0074334353123030605,
            -0.004653321283491829,
            0.06284427501243407
          ],
          "last_action": [
            -0.035882218267923746,
            -0.04155028011696332,
            0.2643888476272364
          ],
          "reason": "running",
          "reward": 0.0011868553274754431,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04537965236890803,
              -0.0008102023710062846,
              0.6868478705789406
            ],
            [
              0.059368600346606556,
              -0.00242429342325566,
              0.6666733885672339
            ],
            [
              0.0674537015539998,
              -0.004541338579606707,
              0.643533485337814
            ],
            [
              0.07143145075926222,
              -0.006858900739971277,
              0.6193650704107315
            ],
            [
              0.07291187796256297,
              -0.009121852938542141,
              0.5949111774849668
            ],
            [
              0.07310361169756738,
              -0.0111031357889449,
              0.5703888688734943
            ],
            [
              0.07286165391348927,
              -0.012586591763795504,
              0.545831860138794
            ],
            [
              0.07277469853273814,
              -0.01336381177548832,
              0.521241328810457
            ],
            [
              0.07323612457231211,
              -0.013241066101778644,
              0.4966429979178065
            ],
            [
              0.07449337061073653,
              -0.012050922578928827,
              0.47210101849501696
            ],
            [
              0.0766814750777482,
              -0.009664608237787425,
              0.44771202850616776
            ],
            [
              0.07984697875195754,
              -0.00600257420905624,
              0.4235899288943714
            ],
            [
              0.08396660689348913,
              -0.0010417752696087051,
              0.39984705063946396
            ],
            [
              0.08896347005682162,
              0.005181161962416483,
              0.37657447005299594
            ],
            [
              0.09472187099130658,
              0.012570750807260268,
              0.3538249662045301
            ],
            [
              0.10110097874482916,
              0.020976917352200863,
              0.3316000145002597
            ],
            [
              0.10794665248165643,
              0.03020131375500637,
              0.3098433176343919
            ],
            [
              0.11510062855444256,
              0.04000425062835773,
              0.288441724586757
            ],
            [
              0.12240653113590053,
              0.05011118825781051,
              0.2672337026222965
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.36000000000000026
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12223738568152073,
            0.049974271296056666,
            0.2684983175222839
          ],
          "endpoint_velocity": [
            -0.00789375165763992,
            -0.005617991690590296,
            0.0666188168330933
          ],
          "last_action": [
            -0.034096526753271364,
            -0.04010302009425196,
            0.25146419807610076
          ],
          "reason": "running",
          "reward": 0.0012660681497882792,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04535452758226814,
              -0.0008859526249189088,
              0.6868131348428095
            ],
            [
              0.059267239677460545,
              -0.0026640703529489038,
              0.6665997625514293
            ],
            [
              0.0672257612389927,
              -0.005011725086372104,
              0.6434382359393511
            ],
            [
              0.07103752441475623,
              -0.007601781515292685,
              0.6192707385020565
            ],
            [
              0.07232552905350682,
              -0.010158805280089573,
              0.5948349416028581
            ],
            [
              0.07231154017684623,
              -0.012438505495968486,
              0.5703378267843373
            ],
            [
              0.07186400801315469,
              -0.014208293246667088,
              0.5458026799644244
            ],
            [
              0.07158554597691888,
              -0.01524298787733663,
              0.5212230597657643
            ],
            [
              0.07188351740120419,
              -0.015331881669318441,
              0.49662206031210804
            ],
            [
              0.07301845101065584,
              -0.01429143046140122,
              0.47206732044012367
            ],
            [
              0.07513632037693838,
              -0.011979193747885489,
              0.44766499840517143
            ],
            [
              0.07829122149037562,
              -0.008306028978900938,
              0.42354320212121355
            ],
            [
              0.08246319471708705,
              -0.0032446202769433165,
              0.3998307178288238
            ],
            [
              0.0875741584749416,
              0.00316680945921537,
              0.37663420484465654
            ],
            [
              0.09350310062214377,
              0.010825600151679441,
              0.35401793415044974
            ],
            [
              0.1001006530207734,
              0.019569934617277636,
              0.33198808968730004
            ],
            [
              0.10720203256156041,
              0.02918652577362188,
              0.3104846439269142
            ],
            [
              0.1146371991678102,
              0.0394188242207897,
              0.2893819546197459
            ],
            [
              0.12223738568152073,
              0.049974271296056666,
              0.2684983175222839
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.3800000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.12205377116260936,
            0.04981522060637302,
            0.26982434700155583
          ],
          "endpoint_velocity": [
            -0.00868778220967667,
            -0.00669364077425999,
            0.06939499720393359
          ],
          "last_action": [
            -0.03228999312313922,
            -0.0384926828749389,
            0.23787441362106176
          ],
          "reason": "success",
          "reward": 1.0013301843017863,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.024602962657809258,
              0.0,
              0.7
            ],
            [
              0.04532572698049926,
              -0.0009603518958850403,
              0.6867731131930497
            ],
            [
              0.05915446289095477,
              -0.002898982489050474,
              0.6665169177351039
            ],
            [
              0.06697772430056831,
              -0.005471835727312574,
              0.6433332409273593
            ],
            [
              0.0706160300412712,
              -0.0083277716346783,
              0.619168965133847
            ],
            [
              0.07170611449801803,
              -0.01117184621185608,
              0.5947552711843713
            ],
            [
              0.07148282827740587,
              -0.013743318293310752,
              0.5702880780925448
            ],
            [
              0.070827688936805,
              -0.015793853737354487,
              0.5457794681761938
            ],
            [
              0.0703568117241452,
              -0.017082009826761373,
              0.5212147619549775
            ],
            [
              0.07049124438004499,
              -0.017380371019670254,
              0.49661397392584455
            ],
            [
              0.07150447349657725,
              -0.016489304392974777,
              0.4720480375459925
            ],
            [
              0.0735534075292745,
              -0.01425254348995301,
              0.44763279845312576
            ],
            [
              0.07669973658808057,
              -0.010571134267604324,
              0.4235111393888789
            ],
            [
              0.08092678909134932,
              -0.005413344396635551,
              0.3998291977296521
            ],
            [
              0.08615513138255637,
              0.0011810005912483747,
              0.3767102520900432
            ],
            [
              0.09225814955744704,
              0.009101924094509634,
              0.3542309889797471
            ],
            [
              0.09907760498315113,
              0.018175699319731734,
              0.33240287039777894
            ],
            [
              0.10643781310364145,
              0.028174077155846973,
              0.31116219306654047
            ],
            [
              0.11415687696021368,
              0.03882391219102691,
              0.2903703149197473
            ],
            [
              0.12205377116260936,
              0.04981522060637302,
              0.26982434700155583
            ]
          ],
          "target": [
            0.11881104257776581,
            0.04598455321629802,
            0.28395122930521743
          ],
          "time": 0.4000000000000003
        }
      ]
    },
    {
      "control_latency_p50_seconds": 0.0026839585043489933,
      "control_latency_p95_seconds": 0.003968249348690733,
      "control_steps": 22,
      "episode_wall_seconds": 0.12250220798887312,
      "final_distance": 0.006612444904901577,
      "final_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.006612444904901577,
        "dwell_elapsed": 0.21900000000000017,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.4399999999999522,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 100902.49029405156,
          "density": 1079.723167725138,
          "rope_length": 0.5207797034792782,
          "rope_radius": 0.0041318109148539795,
          "twist": 95061.9251049529
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "success",
        "scene_hash": "7b4bda69dac7319bc2ec43dc8d80faec1892441ff176c94ebf6a3c793cfc479b",
        "seed": 302,
        "simulation_time": 0.44000000000000034,
        "steps": 22,
        "success": true,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.572857673827206
      },
      "final_observation_available": true,
      "final_speed": 0.08001403131751246,
      "policy": "feedback",
      "reason": "success",
      "reset_info": {
        "actuation_profile": "ideal-endpoint-cartesian-force-v0",
        "anchor": [
          0.0,
          0.0,
          0.7
        ],
        "config": {
          "anchor_height": 0.7,
          "bend": 100000.0,
          "contact_friction": 0.5,
          "control_dt": 0.02,
          "density": 1000.0,
          "dwell": 0.2,
          "force_limit": 2.0,
          "gravity": 9.81,
          "horizon": 6.0,
          "joint_damping": 0.03,
          "rope_length": 0.5,
          "rope_nodes": 21,
          "rope_radius": 0.004,
          "settle_time": 1.0,
          "target_jitter": 0.005,
          "target_offset": [
            0.06,
            0.05,
            0.04
          ],
          "timestep": 0.001,
          "tolerance": 0.025,
          "twist": 100000.0,
          "variation_fraction": 0.08,
          "workspace_radius_factor": 1.1
        },
        "config_hash": "d0f6b10e06c3533a01fd6f389ca57b5d6a2d1dc3b0ed8ca7d1362b5768142bd7",
        "contact_count": 0,
        "contact_samples": 0,
        "distance": 0.08821589381280913,
        "dwell_elapsed": 0.0,
        "engine": "3.15.0",
        "env_id": "CableEndReach-v0",
        "force_limit": 2.0,
        "max_contact_count": 0,
        "native_time": 1.0000000000000007,
        "numpy": "2.5.3",
        "observation_profile": "privileged-simulator-state",
        "observations_available": true,
        "parameters": {
          "bend": 100902.49029405156,
          "density": 1079.723167725138,
          "rope_length": 0.5207797034792782,
          "rope_radius": 0.0041318109148539795,
          "twist": 95061.9251049529
        },
        "physics_substeps": 20,
        "qualification": "simulation-only",
        "reason": "running",
        "scene_hash": "7b4bda69dac7319bc2ec43dc8d80faec1892441ff176c94ebf6a3c793cfc479b",
        "seed": 302,
        "simulation_time": 0.0,
        "steps": 0,
        "success": false,
        "valid": true,
        "warning_counts": {},
        "warnings": [],
        "workspace_radius": 0.572857673827206
      },
      "reward": 1.0815447968007095,
      "seed": 302,
      "setup_seconds": 0.057128541986458004,
      "simulated_seconds": 0.44000000000000034,
      "simulated_seconds_per_wall_second": 3.5917719951624507,
      "step_loop_seconds": 0.06528270884882659,
      "success": true,
      "trace": [
        {
          "endpoint_position": [
            0.07884194328832447,
            0.0,
            0.21772894276006366
          ],
          "endpoint_velocity": [
            1.2606162646206374,
            0.0,
            0.08016406159390653
          ],
          "last_action": [
            0.0,
            0.0,
            0.0
          ],
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04571078696282874,
              0.0,
              0.6829398414043975
            ],
            [
              0.0560214673226809,
              0.0,
              0.6590292066832998
            ],
            [
              0.05989612659558815,
              0.0,
              0.6332801098879013
            ],
            [
              0.06033340664441106,
              0.0,
              0.6072447924053196
            ],
            [
              0.05932011645463923,
              0.0,
              0.5812255411242181
            ],
            [
              0.05801164143517072,
              0.0,
              0.5552194483115068
            ],
            [
              0.05701953308736192,
              0.0,
              0.5291993658503359
            ],
            [
              0.056619262008387315,
              0.0,
              0.5031634679917806
            ],
            [
              0.056886260747637,
              0.0,
              0.4771258325777161
            ],
            [
              0.05778408858977432,
              0.0,
              0.4511023412784367
            ],
            [
              0.059221000816618186,
              0.0,
              0.4251030436438825
            ],
            [
              0.06108531033702388,
              0.0,
              0.3991308643688462
            ],
            [
              0.06326650266294563,
              0.0,
              0.3731834060294418
            ],
            [
              0.06566692265881283,
              0.0,
              0.3472553097229015
            ],
            [
              0.06820725112818617,
              0.0,
              0.32134051708336464
            ],
            [
              0.07082796920944633,
              0.0,
              0.2954337606098818
            ],
            [
              0.07348830487405067,
              0.0,
              0.2695310424438394
            ],
            [
              0.07616361460791848,
              0.0,
              0.24362983660105336
            ],
            [
              0.07884194328832447,
              0.0,
              0.21772894276006366
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.0
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.11618497489008543,
            0.022376574319333292,
            0.2241379770128346
          ],
          "endpoint_velocity": [
            2.25687726337634,
            1.896829498727537,
            0.6612884058180624
          ],
          "last_action": [
            0.2594485257758778,
            0.520547897216515,
            0.5007512613472834
          ],
          "reason": "running",
          "reward": 0.037628802781172414,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04579498620155884,
              -7.801981940118075e-05,
              0.6830375964756927
            ],
            [
              0.05634597048491118,
              -0.00025874549787743145,
              0.6592327093486678
            ],
            [
              0.06061699477966814,
              -0.0005101071071949819,
              0.6335476136884434
            ],
            [
              0.06160291641979753,
              -0.0007921725296122878,
              0.6075288249411376
            ],
            [
              0.061297751856354714,
              -0.0010633890359846715,
              0.5814930512742446
            ],
            [
              0.060871914028715106,
              -0.0012785208900647966,
              0.5554584329615088
            ],
            [
              0.060955626841262316,
              -0.001388085903426865,
              0.5294198086135754
            ],
            [
              0.06184441720093261,
              -0.001339196825680158,
              0.5033960530085052
            ],
            [
              0.06363421379352344,
              -0.0010767337036461193,
              0.47741995846853974
            ],
            [
              0.06630897646731411,
              -0.000544564039295161,
              0.4515241936734033
            ],
            [
              0.06979656451328432,
              0.000312908610036411,
              0.42573408579237565
            ],
            [
              0.07400286571512832,
              0.0015484181253768363,
              0.4000667857255713
            ],
            [
              0.07883101174475649,
              0.003208357525561871,
              0.3745332430543694
            ],
            [
              0.08419049789321066,
              0.005327955229413279,
              0.3491401060280754
            ],
            [
              0.08999942026070407,
              0.007925024422054157,
              0.32389052387668965
            ],
            [
              0.09618212955572444,
              0.010992355195514511,
              0.2987828799821056
            ],
            [
              0.10266391891294994,
              0.014488928549356569,
              0.2738071202189362
            ],
            [
              0.10936365129050424,
              0.018330056864599712,
              0.2489396904036639
            ],
            [
              0.11618497489008543,
              0.022376574319333292,
              0.2241379770128346
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.02000000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1433275516242796,
            0.04559468342346447,
            0.2323266547982985
          ],
          "endpoint_velocity": [
            0.817363817953634,
            0.7953506109163473,
            0.25509053644271534
          ],
          "last_action": [
            -0.36304703993065746,
            -0.17742522065870225,
            0.29137983276353496
          ],
          "reason": "running",
          "reward": 0.021478729174571227,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04592017317519674,
              -0.00011354866588688519,
              0.683184701385118
            ],
            [
              0.05682752224998438,
              -0.0003345890277540526,
              0.6595413205023433
            ],
            [
              0.061682739348205125,
              -0.0005906077078802809,
              0.6339602671302771
            ],
            [
              0.06346734169098225,
              -0.0007998929290791092,
              0.6079833472891129
            ],
            [
              0.06417190178883665,
              -0.0008760057507611461,
              0.5819540177521333
            ],
            [
              0.06496667090839721,
              -0.0007285347973759311,
              0.5559275780297197
            ],
            [
              0.06647723928281994,
              -0.0002678329311624074,
              0.5299365236602528
            ],
            [
              0.0689857759878956,
              0.0005894327915781981,
              0.5040328456720271
            ],
            [
              0.0725647228863057,
              0.001916165754084921,
              0.4782751154725887
            ],
            [
              0.07716471939279321,
              0.0037723528697425324,
              0.4527129794943541
            ],
            [
              0.0826718219799259,
              0.006203505246794508,
              0.4273794145369277
            ],
            [
              0.08894375750730062,
              0.009239227810731129,
              0.4022900351197765
            ],
            [
              0.09583208607494303,
              0.012891463122858705,
              0.37744571381677366
            ],
            [
              0.10319525067291482,
              0.01715232794331387,
              0.35283561360725046
            ],
            [
              0.11090579673366385,
              0.021991573573651824,
              0.3284397342942019
            ],
            [
              0.11885410618904793,
              0.027353871216431274,
              0.30423026641426937
            ],
            [
              0.1269502102809025,
              0.03315616198527064,
              0.28017169799041075
            ],
            [
              0.13512443982042385,
              0.03928509591741396,
              0.25622075048153037
            ],
            [
              0.1433275516242796,
              0.04559468342346447,
              0.2323266547982985
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.04000000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.15457651413412843,
            0.05853600926790062,
            0.23623834084196454
          ],
          "endpoint_velocity": [
            0.32264091598952127,
            0.5266876463105863,
            0.13334308249826668
          ],
          "last_action": [
            -0.2745944459169226,
            -0.13423658974721658,
            0.31104252225273277
          ],
          "reason": "running",
          "reward": -0.0014325650311289551,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04610219352974922,
              -7.650086422084868e-06,
              0.6834019154934265
            ],
            [
              0.05748734854420058,
              -3.3473253647444075e-08,
              0.6599838291170183
            ],
            [
              0.0630556269987924,
              6.980757767844632e-05,
              0.6345472733843791
            ],
            [
              0.06571970801005615,
              0.00026816895464687544,
              0.6086456847190197
            ],
            [
              0.06741991315319104,
              0.0006768843828085697,
              0.5826654913323678
            ],
            [
              0.0692854727819147,
              0.001384975705762975,
              0.5567030711021589
            ],
            [
              0.07190298285665742,
              0.002479410812376127,
              0.5308191026454875
            ],
            [
              0.07551589936109855,
              0.00403815386367242,
              0.5050791463776583
            ],
            [
              0.0801591083018888,
              0.006126236810217199,
              0.4795426966122148
            ],
            [
              0.0857483248903969,
              0.008793985854026163,
              0.4542509594792342
            ],
            [
              0.09213866177255146,
              0.012076218500070393,
              0.4292226008109634
            ],
            [
              0.09916201274944467,
              0.015991440913787562,
              0.4044562260098544
            ],
            [
              0.1066502994069204,
              0.020540613821578912,
              0.3799356472436777
            ],
            [
              0.11444971450739833,
              0.025705491630456163,
              0.3556350020763659
            ],
            [
              0.12242929493581466,
              0.03144663048960731,
              0.33152286058978525
            ],
            [
              0.13048615987908302,
              0.037701344452856174,
              0.30756469549390064
            ],
            [
              0.13854890516411883,
              0.04438191091191932,
              0.2837237566597762
            ],
            [
              0.1465798216693039,
              0.051374072391491554,
              0.25996152182773996
            ],
            [
              0.15457651413412843,
              0.05853600926790062,
              0.23623834084196454
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.060000000000000046
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.15641168242136957,
            0.0642481484301102,
            0.23685784372365565
          ],
          "endpoint_velocity": [
            -0.12337753864327006,
            0.09801695716732584,
            -0.05528672834033817
          ],
          "last_action": [
            -0.2634033455243827,
            -0.19648410704013783,
            0.30236252530218455
          ],
          "reason": "running",
          "reward": -0.0023437167832326775,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04623105597328725,
              8.583636342155583e-05,
              0.6835591452038503
            ],
            [
              0.05794138462100515,
              0.00028581287204422246,
              0.660302817148733
            ],
            [
              0.06397670977322265,
              0.0006200366855703893,
              0.6349751225238878
            ],
            [
              0.06719464010803847,
              0.0011372260352384557,
              0.6091409124566768
            ],
            [
              0.06949568609848666,
              0.0019099662809578524,
              0.5832153217382327
            ],
            [
              0.07197672057421693,
              0.0030201163455713734,
              0.5573185843950035
            ],
            [
              0.07519420619917878,
              0.004546369871753263,
              0.5315242573697271
            ],
            [
              0.07936239331873692,
              0.006556593132991929,
              0.505899788344709
            ],
            [
              0.08448833566780307,
              0.00910426639632176,
              0.48049774468165163
            ],
            [
              0.09046213724339071,
              0.01222734006750728,
              0.4553464365682026
            ],
            [
              0.09711635121530872,
              0.015948028317022352,
              0.43044852280813745
            ],
            [
              0.10426417319769148,
              0.020272535422556092,
              0.4057860609382255
            ],
            [
              0.11172361485524229,
              0.025190379209437414,
              0.3813279388336317
            ],
            [
              0.11933289185492191,
              0.030673435410689488,
              0.35703672246898976
            ],
            [
              0.12696037817362657,
              0.03667489005069527,
              0.33287407069099917
            ],
            [
              0.1345114134316849,
              0.043128456063717444,
              0.30880414035281756
            ],
            [
              0.1419333466243467,
              0.0499482008688533,
              0.2847950965835568
            ],
            [
              0.14921937911862482,
              0.05702904928155923,
              0.2608200040387696
            ],
            [
              0.15641168242136957,
              0.0642481484301102,
              0.23685784372365565
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.08000000000000006
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1530687222736454,
            0.06458759709658274,
            0.2356441491337159
          ],
          "endpoint_velocity": [
            -0.2493518837928743,
            -0.07463724511188803,
            -0.08775096032221233
          ],
          "last_action": [
            -0.17025041473859637,
            -0.14643782637641856,
            0.34332494919492473
          ],
          "reason": "running",
          "reward": 0.0008866404255173878,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04629498394422081,
              0.0001387222152983237,
              0.6836383354297991
            ],
            [
              0.05815490141711911,
              0.000438479319203599,
              0.6604590109041901
            ],
            [
              0.0643871012444489,
              0.0009001782466439139,
              0.6351810463960942
            ],
            [
              0.06781589120458299,
              0.0015598228622810714,
              0.6093772242247516
            ],
            [
              0.07031919728455159,
              0.0024818570155311806,
              0.5834752647249758
            ],
            [
              0.07297679490574854,
              0.003741283831075092,
              0.5576028858386031
            ],
            [
              0.07633039781374838,
              0.005409957871401167,
              0.5318347302052924
            ],
            [
              0.08058082388299753,
              0.007548881280759881,
              0.5062342013217608
            ],
            [
              0.08572288309499146,
              0.010204985300261163,
              0.48084652547735857
            ],
            [
              0.09163580715768907,
              0.013410316969374121,
              0.45569118067436404
            ],
            [
              0.0981429720483134,
              0.0171820584929451,
              0.43076210196689096
            ],
            [
              0.10505054446544568,
              0.021522399138284035,
              0.40603404841091945
            ],
            [
              0.11217225306718527,
              0.026417987360742343,
              0.3814710136475637
            ],
            [
              0.11934549233729934,
              0.03183914383542794,
              0.35703366732910147
            ],
            [
              0.12644204228032202,
              0.03773906326183138,
              0.33268495738482234
            ],
            [
              0.1333755722789252,
              0.04405338506782476,
              0.3083933189854345
            ],
            [
              0.140107166043088,
              0.05070048452537938,
              0.2841336836123822
            ],
            [
              0.14664931083317084,
              0.05758254614287096,
              0.2598877083644953
            ],
            [
              0.1530687222736454,
              0.06458759709658274,
              0.2356441491337159
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.10000000000000007
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14841640301350711,
            0.0624969106126309,
            0.23415405301832473
          ],
          "endpoint_velocity": [
            -0.25066055026459044,
            -0.1498112309301335,
            -0.07923338180133406
          ],
          "last_action": [
            -0.10532722697395358,
            -0.10666876247134045,
            0.3635779530897908
          ],
          "reason": "running",
          "reward": 0.0017358075017597397,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.046298173307381334,
              0.00013275243596294807,
              0.6836422351615409
            ],
            [
              0.05814891611678179,
              0.0004100804186067732,
              0.6604579394788102
            ],
            [
              0.06434319516561275,
              0.0008315620486994268,
              0.635169953585097
            ],
            [
              0.0676985663607304,
              0.0014341099906218762,
              0.6093550859623377
            ],
            [
              0.07009207887141124,
              0.00228324952781204,
              0.5834402590451965
            ],
            [
              0.07260543360888529,
              0.0034551632998039766,
              0.5575493603289573
            ],
            [
              0.07578336162161617,
              0.005023119988834517,
              0.5317526307760246
            ],
            [
              0.07982962255812179,
              0.007049755879347704,
              0.5061099180950546
            ],
            [
              0.08474112577057707,
              0.009583746557358103,
              0.480664176334982
            ],
            [
              0.09039804726228316,
              0.012658875061349596,
              0.45543381727771914
            ],
            [
              0.09662365732583446,
              0.016293956242718528,
              0.43041270302636625
            ],
            [
              0.1032233827651489,
              0.02049263878282047,
              0.40557634992580793
            ],
            [
              0.1100101696880392,
              0.02524280147496242,
              0.38089024711675246
            ],
            [
              0.11682122854211288,
              0.030515721595410467,
              0.3563172134227311
            ],
            [
              0.1235293397588547,
              0.03626525742547608,
              0.3318228502359667
            ],
            [
              0.13005077858971828,
              0.04242744240046078,
              0.30737849493362407
            ],
            [
              0.13635098767557008,
              0.04892085932709595,
              0.28296187976425163
            ],
            [
              0.14244835620917712,
              0.05564787332195119,
              0.2585569801340359
            ],
            [
              0.14841640301350711,
              0.0624969106126309,
              0.23415405301832473
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.12000000000000009
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1444720153446069,
            0.05986851759570744,
            0.23312345789482372
          ],
          "endpoint_velocity": [
            -0.17269558117284028,
            -0.13306332329455672,
            -0.039367876772190696
          ],
          "last_action": [
            -0.05847686775464167,
            -0.0669684011772607,
            0.37634951961348284
          ],
          "reason": "running",
          "reward": 0.0012476287420350415,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04626158308569296,
              7.974502410354165e-05,
              0.6835966780212667
            ],
            [
              0.058001589646481284,
              0.00023981789760695483,
              0.660355008441036
            ],
            [
              0.06401165158391811,
              0.0004941703527984196,
              0.6350203793615204
            ],
            [
              0.06712184706223652,
              0.0008925586922003457,
              0.6091708737361201
            ],
            [
              0.06922402790176564,
              0.0015100523832637688,
              0.5832242413631665
            ],
            [
              0.0714155217458818,
              0.002431585808079301,
              0.5572940060935421
            ],
            [
              0.07425678902236131,
              0.003739576575204356,
              0.5314435644981526
            ],
            [
              0.0779661672688287,
              0.005506159206598301,
              0.5057307682078056
            ],
            [
              0.08255279196572043,
              0.007789354684276129,
              0.4802007929124184
            ],
            [
              0.08790605266199211,
              0.010631634952195906,
              0.45487704443329036
            ],
            [
              0.0938553521609258,
              0.01405946268116465,
              0.4297596395758953
            ],
            [
              0.10020951953227333,
              0.018082800514585478,
              0.4048303985931142
            ],
            [
              0.1067827104478241,
              0.022694233633813243,
              0.38006033520982024
            ],
            [
              0.11341169217860357,
              0.027867838223014103,
              0.35541650005768977
            ],
            [
              0.119967573559132,
              0.033558038794793764,
              0.33086712566525645
            ],
            [
              0.1263639507886785,
              0.03969887739597286,
              0.30638438370588034
            ],
            [
              0.13256252818587444,
              0.04620410266666364,
              0.2819449099663268
            ],
            [
              0.13857651207880256,
              0.05296819221473365,
              0.2575295697761145
            ],
            [
              0.1444720153446069,
              0.05986851759570744,
              0.23312345789482372
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.1400000000000001
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1420025472873843,
            0.05778536692070932,
            0.23283099724504636
          ],
          "endpoint_velocity": [
            -0.08927989494550051,
            -0.088315790845762,
            0.0018652087261401135
          ],
          "last_action": [
            -0.038524233338577143,
            -0.04487144791692027,
            0.37668909459120714
          ],
          "reason": "running",
          "reward": 0.0008156184482257247,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04620402848175949,
              -4.54606822293172e-06,
              0.6835257836248931
            ],
            [
              0.057781637365890114,
              -2.2791684771001773e-05,
              0.6602022499759715
            ],
            [
              0.06353632128914626,
              -1.4639215663776955e-05,
              0.6348071221609637
            ],
            [
              0.06632237575392112,
              9.143303706190953e-05,
              0.6089178267001669
            ],
            [
              0.06805581382099976,
              0.00038657478594874607,
              0.5829382909450104
            ],
            [
              0.0698577144080174,
              0.0009703909039960911,
              0.556968283565829
            ],
            [
              0.07231176776715666,
              0.001940404892282983,
              0.531063348413759
            ],
            [
              0.07565769498802517,
              0.003384147033513834,
              0.505280629901157
            ],
            [
              0.0799226547261053,
              0.005374478065535754,
              0.47967050598310396
            ],
            [
              0.085009754629067,
              0.007967316412456935,
              0.4542652545944282
            ],
            [
              0.09075757127429766,
              0.011200541665235203,
              0.4290752356878177
            ],
            [
              0.09697984014651331,
              0.01509303253769693,
              0.4040920086910472
            ],
            [
              0.10349187380980314,
              0.019643379514024076,
              0.37929450974052803
            ],
            [
              0.1101283948918469,
              0.024828340685577363,
              0.3546550909199701
            ],
            [
              0.11675572014415007,
              0.03060128131982574,
              0.33014424714183527
            ],
            [
              0.12328019322618082,
              0.03689105563038909,
              0.30573322126495284
            ],
            [
              0.12965387661023053,
              0.04360179275905119,
              0.2813945614508284
            ],
            [
              0.13587774397162095,
              0.05061373694103656,
              0.2571020551960377
            ],
            [
              0.1420025472873843,
              0.05778536692070932,
              0.23283099724504636
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.16000000000000011
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14089705363065586,
            0.05655195579746315,
            0.23324084383188948
          ],
          "endpoint_velocity": [
            -0.02582901715082042,
            -0.04132455445783567,
            0.03643455848229506
          ],
          "last_action": [
            -0.03468347432318591,
            -0.035226824279137765,
            0.36930542971439806
          ],
          "reason": "running",
          "reward": 0.0008250503161713002,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.046139122438635854,
              -0.00010389845478584692,
              0.6834469795979683
            ],
            [
              0.057538223473168545,
              -0.00032887531572546385,
              0.6600367582563116
            ],
            [
              0.06301850884218273,
              -0.000602189305202326,
              0.634582470955402
            ],
            [
              0.06546352361249966,
              -0.0008256755379418999,
              0.6086594902830983
            ],
            [
              0.0668171491974477,
              -0.0008884684555334392,
              0.5826557992169619
            ],
            [
              0.06822736943684277,
              -0.0006729326529415389,
              0.5566559185738872
            ],
            [
              0.07030408553687728,
              -6.300103835870687e-05,
              0.530707041836631
            ],
            [
              0.07331119880457587,
              0.0010476905366174783,
              0.5048661473424711
            ],
            [
              0.077296305557306,
              0.002750037659288618,
              0.4791902698555033
            ],
            [
              0.08217803414929442,
              0.005116099075428048,
              0.4537226693881053
            ],
            [
              0.08780514875286763,
              0.008197154602602643,
              0.4284863687020993
            ],
            [
              0.0939964213725865,
              0.012022127982489727,
              0.40348501937303344
            ],
            [
              0.10056755378554748,
              0.01659580799358875,
              0.3787074112518851
            ],
            [
              0.10734961491685546,
              0.021896866893904972,
              0.3541324114434544
            ],
            [
              0.11420179320821959,
              0.027875909184835297,
              0.3297330579227332
            ],
            [
              0.12102028223739199,
              0.03445404241771631,
              0.3054788919967049
            ],
            [
              0.12774425674383388,
              0.0415224818626269,
              0.28133653244159634
            ],
            [
              0.1343591103722737,
              0.04894335919148906,
              0.25726987423097636
            ],
            [
              0.14089705363065586,
              0.05655195579746315,
              0.23324084383188948
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.18000000000000013
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14069949957386815,
            0.05605691193239424,
            0.23418513991767176
          ],
          "endpoint_velocity": [
            0.008382997219665844,
            -0.008554985832315842,
            0.059517629662750274
          ],
          "last_action": [
            -0.039491257204571584,
            -0.034640522143657676,
            0.3565646264069281
          ],
          "reason": "running",
          "reward": 0.0010277726478616358,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.046073650332497385,
              -0.00020714796503502528,
              0.6833687619518312
            ],
            [
              0.057295748804739505,
              -0.0006455410702489394,
              0.6598761907938373
            ],
            [
              0.06250789999761595,
              -0.00120739202435041,
              0.6343703723653318
            ],
            [
              0.06462398925447807,
              -0.001766100495497738,
              0.6084235232047653
            ],
            [
              0.06561604939115541,
              -0.0021896995106584177,
              0.5824069020790819
            ],
            [
              0.06665906846773445,
              -0.002341167283216701,
              0.556389251551417
            ],
            [
              0.06838935542731542,
              -0.0020844189092388294,
              0.5304090830075086
            ],
            [
              0.07109533516549063,
              -0.001292708803229417,
              0.5045231976063402
            ],
            [
              0.074845425412206,
              0.00014436066471885944,
              0.4787957531011375
            ],
            [
              0.07957401859490916,
              0.002316185460384629,
              0.45328199646266465
            ],
            [
              0.08513999643843098,
              0.005288201326010737,
              0.42801907488621826
            ],
            [
              0.09136667558083683,
              0.009099574359065261,
              0.4030244424875824
            ],
            [
              0.09806921534403441,
              0.013760884771678507,
              0.3782984169234565
            ],
            [
              0.10507373272031233,
              0.019251738780053547,
              0.3538277109094911
            ],
            [
              0.1122307712545166,
              0.02551852830553643,
              0.32958861243727644
            ],
            [
              0.1194248421823578,
              0.032472851347912314,
              0.3055488343861949
            ],
            [
              0.12658091960198292,
              0.039991135125495084,
              0.2816680019207666
            ],
            [
              0.1336679668910036,
              0.04791562293027008,
              0.25789814706135145
            ],
            [
              0.14069949957386815,
              0.05605691193239424,
              0.23418513991767176
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.20000000000000015
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14092343739806415,
            0.0560209851919538,
            0.23546785144148327
          ],
          "endpoint_velocity": [
            0.01915883436550289,
            0.008008391881458021,
            0.07253240893558721
          ],
          "last_action": [
            -0.04606872022931613,
            -0.037882475649348504,
            0.34135089775399147
          ],
          "reason": "running",
          "reward": 0.0012108666932052147,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04600947427300532,
              -0.0003082821396854688,
              0.6832933149754714
            ],
            [
              0.057060924379488856,
              -0.0009554787280491341,
              0.6597247942461444
            ],
            [
              0.06201774636587783,
              -0.0017989028184453334,
              0.6341758701619699
            ],
            [
              0.06382353420320566,
              -0.0026836729927927397,
              0.6082146436446216
            ],
            [
              0.06447714853104597,
              -0.003456818305259111,
              0.5821953579343251
            ],
            [
              0.06517920049982483,
              -0.0039619197245737555,
              0.5561707356344864
            ],
            [
              0.0665912618981377,
              -0.0040426961318209866,
              0.530170187024133
            ],
            [
              0.06902549030410608,
              -0.0035516694654911542,
              0.5042498934471243
            ],
            [
              0.0725706522547586,
              -0.002358492110556597,
              0.478480960585521
            ],
            [
              0.07717660559180105,
              -0.0003560212100219835,
              0.4529309410476167
            ],
            [
              0.08271205053796211,
              0.002535558785569258,
              0.4276519812467288
            ],
            [
              0.08900441671390599,
              0.006365580685334842,
              0.40267665729612395
            ],
            [
              0.09586770966720723,
              0.011149993522307243,
              0.3780183362283714
            ],
            [
              0.10312235123292203,
              0.016868601277348533,
              0.35367298974624517
            ],
            [
              0.11060949175932511,
              0.023462643978542506,
              0.32962114836403017
            ],
            [
              0.11820138421402897,
              0.030833237319228924,
              0.3058290127516008
            ],
            [
              0.1258085934382261,
              0.03884121322502826,
              0.2822487056299957
            ],
            [
              0.13338399255953987,
              0.04730847485535769,
              0.25881905443927467
            ],
            [
              0.14092343739806415,
              0.0560209851919538,
              0.23546785144148327
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.22000000000000017
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14121549681525994,
            0.056171961785362066,
            0.23693447767850823
          ],
          "endpoint_velocity": [
            0.015568512340960905,
            0.01162654455336043,
            0.0787303956097396
          ],
          "last_action": [
            -0.05100205775773536,
            -0.0416640526733876,
            0.3252700876976671
          ],
          "reason": "running",
          "reward": 0.001333441584277846,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04594563568119862,
              -0.0004054059924873197,
              0.6832193650674843
            ],
            [
              0.056830420058703535,
              -0.0012533946838806083,
              0.6595797591806829
            ],
            [
              0.061540953367900345,
              -0.002367567064560443,
              0.6339946372128478
            ],
            [
              0.06304971102133945,
              -0.0035657860878825854,
              0.6080270248509986
            ],
            [
              0.06338071738555236,
              -0.004674915290499507,
              0.5820137885771985
            ],
            [
              0.0637584491823993,
              -0.005519834500088789,
              0.5559912521812428
            ],
            [
              0.06486826139526135,
              -0.005924563682727708,
              0.5299790726992996
            ],
            [
              0.06704502204650163,
              -0.005721134897655822,
              0.504032039650521
            ],
            [
              0.07039728955535757,
              -0.004759258184895237,
              0.47822764386179883
            ],
            [
              0.07489016813913406,
              -0.002913916453699222,
              0.4526456785314272
            ],
            [
              0.08040210969423367,
              -9.079136964791363e-05,
              0.42735384863933046
            ],
            [
              0.08676457864583285,
              0.00376960896285226,
              0.4024009721639564
            ],
            [
              0.09379025004828798,
              0.008688394288999493,
              0.37781492558265767
            ],
            [
              0.10129358285675943,
              0.014645167823306913,
              0.35360242798195396
            ],
            [
              0.10910606568902925,
              0.02157551987001912,
              0.32974943909614285
            ],
            [
              0.1170875654368868,
              0.029369639467837844,
              0.30622125268690936
            ],
            [
              0.12513440393527242,
              0.03787255053128062,
              0.28296233852769137
            ],
            [
              0.1331839526759704,
              0.04688599331329987,
              0.25989737894461606
            ],
            [
              0.14121549681525994,
              0.056171961785362066,
              0.23693447767850823
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.24000000000000019
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1413842146470803,
            0.05631739581937361,
            0.23849415112928565
          ],
          "endpoint_velocity": [
            0.00600191963466723,
            0.007656765580520697,
            0.08174075968834092
          ],
          "last_action": [
            -0.05302507142355775,
            -0.044078356775445846,
            0.3090543286588795
          ],
          "reason": "running",
          "reward": 0.0014306614965567913,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04588023118359155,
              -0.0004988450132401721,
              0.6831445881823146
            ],
            [
              0.05659762481647087,
              -0.0015402503951213924,
              0.6594363294778608
            ],
            [
              0.061064038895516926,
              -0.00291538827709538,
              0.6338201410154845
            ],
            [
              0.06228049833734828,
              -0.004416107791840005,
              0.6078529109432498
            ],
            [
              0.06229477101106316,
              -0.005850228524834345,
              0.5818534630981171
            ],
            [
              0.06235358317648944,
              -0.007024936197067243,
              0.5558410511900698
            ],
            [
              0.06316473071965249,
              -0.007745347356516154,
              0.5298246713941702
            ],
            [
              0.06508495428307247,
              -0.007823487295173662,
              0.5038567136413113
            ],
            [
              0.06824230377961558,
              -0.007089275029563254,
              0.4780202699466344
            ],
            [
              0.07261724262935122,
              -0.0053997166504386,
              0.4524071190904356
            ],
            [
              0.07809829589982664,
              -0.002645774265238583,
              0.4271009528335132
            ],
            [
              0.08452129363606577,
              0.0012423879749180744,
              0.40216790166128413
            ],
            [
              0.09169778988778528,
              0.006291092548907087,
              0.3776518522668277
            ],
            [
              0.09943633469945885,
              0.012479638270055856,
              0.3535718809152508
            ],
            [
              0.10755870949409962,
              0.019737769858455597,
              0.3299207435256164
            ],
            [
              0.11591236502665812,
              0.027944593091830203,
              0.30666364383762246
            ],
            [
              0.12437949453399741,
              0.03692936530001957,
              0.28373746272277733
            ],
            [
              0.13288232620018822,
              0.04647403668152108,
              0.26105198613183767
            ],
            [
              0.1413842146470803,
              0.05631739581937361,
              0.23849415112928565
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.2600000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14136628562982698,
            0.05635712419794224,
            0.24011074881341699
          ],
          "endpoint_velocity": [
            -0.004141029262102719,
            0.0006934338282920671,
            0.08400288680890741
          ],
          "last_action": [
            -0.05232060156518781,
            -0.04454025237235135,
            0.29270500313145487
          ],
          "reason": "running",
          "reward": 0.0015324096511619843,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.045811551772999295,
              -0.0005895932149676061,
              0.6830669912017691
            ],
            [
              0.05635672023830042,
              -0.0018186996110286838,
              0.6592905889980212
            ],
            [
              0.060575439835249295,
              -0.00344704576562899,
              0.6336472689317145
            ],
            [
              0.06149756389325184,
              -0.00524165321418032,
              0.6076865670616344
            ],
            [
              0.061193545088148144,
              -0.006992492820678241,
              0.5817083006168492
            ],
            [
              0.06093099752535178,
              -0.008490185978418083,
              0.5557137443743885
            ],
            [
              0.061439047677692114,
              -0.009521870633044795,
              0.5297001617284698
            ],
            [
              0.06309571890242581,
              -0.009880151509797744,
              0.5037164116237547
            ],
            [
              0.06604853290068613,
              -0.009375356080978862,
              0.47785029832180637
            ],
            [
              0.07029373869840563,
              -0.007846386470461385,
              0.45220524667625667
            ],
            [
              0.07573058418180575,
              -0.005169171073289848,
              0.42688131682434444
            ],
            [
              0.08219990501495737,
              -0.0012631925835468517,
              0.40196303104305675
            ],
            [
              0.08951259416699525,
              0.0039033156018693127,
              0.37751185592255415
            ],
            [
              0.09747150331429887,
              0.010309420745466567,
              0.35356095246752905
            ],
            [
              0.10588870127228767,
              0.017878977555654013,
              0.33011138243914945
            ],
            [
              0.11459910719019589,
              0.026479966555611172,
              0.30712921519570446
            ],
            [
              0.12347068897023704,
              0.03592599254250134,
              0.28454391413477487
            ],
            [
              0.1324105521252477,
              0.045979611724100436,
              0.2622496697115258
            ],
            [
              0.14136628562982698,
              0.05635712419794224,
              0.24011074881341699
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.2800000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1411741004704378,
            0.05626301396136774,
            0.24177895722994694
          ],
          "endpoint_velocity": [
            -0.012235769719080192,
            -0.006202652591248414,
            0.08654659722522598
          ],
          "last_action": [
            -0.04960557416846222,
            -0.043196703219980495,
            0.2759734945099999
          ],
          "reason": "running",
          "reward": 0.001642337044578982,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04573860401264515,
              -0.0006783273660013747,
              0.6829854860030637
            ],
            [
              0.05610450967867061,
              -0.0020902798400615616,
              0.6591405080793402
            ],
            [
              0.06006913857384997,
              -0.00396483654521471,
              0.633473472310818
            ],
            [
              0.060691852697097884,
              -0.006045327854205443,
              0.607525201592062
            ],
            [
              0.06006494807941495,
              -0.008105117050016406,
              0.581575395170685
            ],
            [
              0.05947570492976804,
              -0.009919476914732592,
              0.5556063778413399
            ],
            [
              0.05967358502670297,
              -0.011258599541903941,
              0.5296025980330782
            ],
            [
              0.06105742064679539,
              -0.011896366472198494,
              0.5036082439045952
            ],
            [
              0.06379432058171819,
              -0.01162380247637779,
              0.4777149082002696
            ],
            [
              0.067896907073242,
              -0.010261624264779128,
              0.45203726327638294
            ],
            [
              0.07327597825410158,
              -0.007670406066108923,
              0.4266920590807976
            ],
            [
              0.07977818373614652,
              -0.003758561807347097,
              0.40178325452002106
            ],
            [
              0.08721434052774278,
              0.0015114234980014036,
              0.3773914726808442
            ],
            [
              0.09538186563033806,
              0.008118531813883594,
              0.3535657334973799
            ],
            [
              0.10408307656081076,
              0.01598074234025194,
              0.33031698470814413
            ],
            [
              0.11314012857229344,
              0.02495490974328883,
              0.3076131893751749
            ],
            [
              0.12240648224088159,
              0.03483913004981083,
              0.2853766187569665
            ],
            [
              0.13177390409252987,
              0.045376985090091915,
              0.26348518743588134
            ],
            [
              0.1411741004704378,
              0.05626301396136774,
              0.24177895722994694
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.3000000000000002
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14085186640161462,
            0.056050440006390014,
            0.24350087758652691
          ],
          "endpoint_velocity": [
            -0.01760462166278906,
            -0.011516843347316341,
            0.08926871838150126
          ],
          "last_action": [
            -0.045660037460326056,
            -0.0405315792493504,
            0.2586554827406208
          ],
          "reason": "running",
          "reward": 0.0017475155367730469,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.045661187834116206,
              -0.0007650211850203729,
              0.6828999209877336
            ],
            [
              0.05584064360396719,
              -0.0023543790635001524,
              0.6589858831853764
            ],
            [
              0.05954498761767566,
              -0.004466935189445775,
              0.6332984560603653
            ],
            [
              0.05986385860221398,
              -0.00682355201600724,
              0.6073682873627283
            ],
            [
              0.0589105492918283,
              -0.009182330584051566,
              0.5814538983237512
            ],
            [
              0.057990744089107954,
              -0.011304531074400447,
              0.5555178386051328
            ],
            [
              0.05787318248574508,
              -0.01294458575491408,
              0.5295308154940824
            ],
            [
              0.058976961226409004,
              -0.013858531960825687,
              0.5035313045551791
            ],
            [
              0.06148883542135723,
              -0.013818565553790614,
              0.4776137692364501
            ],
            [
              0.0654383668919292,
              -0.012627294260813228,
              0.4519036492813181
            ],
            [
              0.07074874980294828,
              -0.010129727224761218,
              0.4265345699429469
            ],
            [
              0.07727329962635993,
              -0.006222878773152537,
              0.4016308246209981
            ],
            [
              0.08482338491230347,
              -0.0008631945306917452,
              0.37729364747914607
            ],
            [
              0.0931912674050347,
              0.005928382704603313,
              0.35358961374050457
            ],
            [
              0.10216945088442428,
              0.014064001459656916,
              0.3305411067353786
            ],
            [
              0.11156703591692706,
              0.0233894350753217,
              0.3081190221383903
            ],
            [
              0.1212226190734203,
              0.033687482468924834,
              0.2862387084289177
            ],
            [
              0.13101234301486842,
              0.04468327105683272,
              0.26476119263302605
            ],
            [
              0.14085186640161462,
              0.056050440006390014,
              0.24350087758652691
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.32000000000000023
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.14044827601850024,
            0.055753716552010564,
            0.2452706852827862
          ],
          "endpoint_velocity": [
            -0.020547233576596546,
            -0.01482294635585385,
            0.09148858104145842
          ],
          "last_action": [
            -0.0410954837861671,
            -0.03707729201055612,
            0.24075574888575216
          ],
          "reason": "running",
          "reward": 0.0018308523578240794,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04557974732196679,
              -0.0008489694806999924,
              0.6828108562666488
            ],
            [
              0.0555670314911676,
              -0.002608390043264186,
              0.6588277960687412
            ],
            [
              0.05900738623124869,
              -0.0049478243351851955,
              0.6331233222029701
            ],
            [
              0.05902129664861205,
              -0.007567132861985008,
              0.6072164119355984
            ],
            [
              0.05774200802417969,
              -0.010210676893141148,
              0.581343582754998
            ],
            [
              0.056492156660901925,
              -0.012627206670683434,
              0.5554471114574662
            ],
            [
              0.05605849318012431,
              -0.014556786579280672,
              0.529483336161456
            ],
            [
              0.05687960810146761,
              -0.015738741919079483,
              0.5034841641342845
            ],
            [
              0.05916174619114246,
              -0.01592718862652038,
              0.47754604392751904
            ],
            [
              0.06295180375434861,
              -0.01490695961515322,
              0.4518045833887357
            ],
            [
              0.06818611120128493,
              -0.012507492977296064,
              0.42641023796219346
            ],
            [
              0.07472546180498034,
              -0.008614205373400212,
              0.40150825106159044
            ],
            [
              0.08238241030621968,
              -0.0031772713079818065,
              0.3772216481320852
            ],
            [
              0.09094437219886853,
              0.0037826055853698555,
              0.35363603564446877
            ],
            [
              0.10019400936635123,
              0.012171840707107289,
              0.33078664412905556
            ],
            [
              0.10992711280800108,
              0.021825264713393782,
              0.3086482996429205
            ],
            [
              0.11996710698736847,
              0.032510726526994535,
              0.2871297584064394
            ],
            [
              0.13017430479124656,
              0.043935600475188935,
              0.2660747087854368
            ],
            [
              0.14044827601850024,
              0.055753716552010564,
              0.2452706852827862
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.34000000000000025
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1400042588997491,
            0.05541010944191102,
            0.24706886302934264
          ],
          "endpoint_velocity": [
            -0.021666444047944905,
            -0.016294829505414693,
            0.09243110519399261
          ],
          "last_action": [
            -0.0363239269765714,
            -0.03328353171462725,
            0.22250270625817004
          ],
          "reason": "running",
          "reward": 0.0018780190454426604,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04549514468108465,
              -0.0009290255530777622,
              0.6827192718482096
            ],
            [
              0.05528698808593223,
              -0.0028484679161862323,
              0.6586679906765454
            ],
            [
              0.05846344828035067,
              -0.005399795520361931,
              0.6329497131613351
            ],
            [
              0.05817603044137854,
              -0.008263682710153148,
              0.6070702906134899
            ],
            [
              0.056576576939312076,
              -0.011172494282607389,
              0.5812437779188098
            ],
            [
              0.05500295469013249,
              -0.013864162283171406,
              0.5553921318077485
            ],
            [
              0.05425837365971582,
              -0.016066005681657943,
              0.5294570888157345
            ],
            [
              0.05479983475680674,
              -0.017502060373575594,
              0.5034633826344308
            ],
            [
              0.056852604455150446,
              -0.017909438099145053,
              0.4775086157073945
            ],
            [
              0.06048104344989476,
              -0.017055848641782625,
              0.451737818091925
            ],
            [
              0.06563517703123256,
              -0.0147554140826665,
              0.4263179222994018
            ],
            [
              0.07218400462014406,
              -0.010881926580616246,
              0.40141533813500885
            ],
            [
              0.07994190652410106,
              -0.005379127265667052,
              0.37717565265879516
            ],
            [
              0.08869182931823627,
              0.0017327080935752642,
              0.3537046313099596
            ],
            [
              0.09820667055857923,
              0.010354459452226607,
              0.33105153116973224
            ],
            [
              0.10826878322728477,
              0.02031030840778126,
              0.30919602489661546
            ],
            [
              0.11868625540304177,
              0.03135369577829464,
              0.2880406931079173
            ],
            [
              0.12930353269396322,
              0.043175171893573956,
              0.26741168751709765
            ],
            [
              0.1400042588997491,
              0.05541010944191102,
              0.24706886302934264
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.36000000000000026
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13955031896271752,
            0.05505182873315864,
            0.2488637643966009
          ],
          "endpoint_velocity": [
            -0.021513590656492804,
            -0.016334609202363043,
            0.0915413740916364
          ],
          "last_action": [
            -0.03160395317122292,
            -0.029479489826241607,
            0.20428529775447207
          ],
          "reason": "running",
          "reward": 0.0018801096319006662,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04540844551508759,
              -0.0010038918372058333,
              0.6826263128875131
            ],
            [
              0.05500443544597113,
              -0.003070425256083687,
              0.6585083735243783
            ],
            [
              0.057921323145300636,
              -0.005814663455081371,
              0.6327792092721802
            ],
            [
              0.05734131403910214,
              -0.008900292585119308,
              0.6069301966688232
            ],
            [
              0.05543315027297625,
              -0.012049643380866674,
              0.581152906375917
            ],
            [
              0.05354793404198647,
              -0.014991696498363594,
              0.5553494327051849
            ],
            [
              0.05250349380429416,
              -0.01744286328409283,
              0.5294471182094038
            ],
            [
              0.052773830234679214,
              -0.019113594533771483,
              0.5034632045406828
            ],
            [
              0.05460242412699621,
              -0.01972540231055789,
              0.4774956924938242
            ],
            [
              0.058070929233447234,
              -0.019029854212068743,
              0.45169813680715104
            ],
            [
              0.0631434104746336,
              -0.016826286451624782,
              0.42625324699758943
            ],
            [
              0.06969770354326828,
              -0.012977016606683649,
              0.4013483456664503
            ],
            [
              0.07755067097336207,
              -0.00741924718183397,
              0.3771518522056225
            ],
            [
              0.08648127673993582,
              -0.00017257932801212784,
              0.35379038221984854
            ],
            [
              0.09625289767769796,
              0.008658677012667915,
              0.33132810090257375
            ],
            [
              0.10663451169742558,
              0.018888550986775263,
              0.30975033542379754
            ],
            [
              0.11741890324319472,
              0.03025684306502076,
              0.2889540129496428
            ],
            [
              0.1284348105865195,
              0.042438437203471596,
              0.26874786794541583
            ],
            [
              0.13955031896271752,
              0.05505182873315864,
              0.2488637643966009
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.3800000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13910817641691076,
            0.054703430049376486,
            0.2506171264842057
          ],
          "endpoint_velocity": [
            -0.020484922726149796,
            -0.01536541337851921,
            0.08860937595017956
          ],
          "last_action": [
            -0.02710276714877017,
            -0.025886737814480733,
            0.18655871685747846
          ],
          "reason": "running",
          "reward": 0.0018341956037516986,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.045320750560390866,
              -0.0010723698575221383,
              0.68253310723142
            ],
            [
              0.05472328846983567,
              -0.0032704927599178247,
              0.6583506938114113
            ],
            [
              0.05738892765253321,
              -0.006185200441673,
              0.6326130207010171
            ],
            [
              0.05652974896191605,
              -0.009465731714152388,
              0.606795799765994
            ],
            [
              0.05432939070316317,
              -0.01282652056583667,
              0.5810685434788319
            ],
            [
              0.05214997153883469,
              -0.015989591145073548,
              0.5553144353234938
            ],
            [
              0.05082185949204307,
              -0.018662449492216463,
              0.5294470636574895
            ],
            [
              0.05083435883545733,
              -0.02054389691747946,
              0.5034761531307064
            ],
            [
              0.05244804376832684,
              -0.021341536021815138,
              0.4774994416552488
            ],
            [
              0.05576139825236542,
              -0.020792070899830713,
              0.45167797840506463
            ],
            [
              0.0607526579274163,
              -0.018680835830854586,
              0.42620920914588123
            ],
            [
              0.06730902828529853,
              -0.014858983009715686,
              0.4013006324096175
            ],
            [
              0.07525054063528128,
              -0.009257107105573804,
              0.3771432409488771
            ],
            [
              0.08435279830330783,
              -0.0018938022496806208,
              0.35388471904438323
            ],
            [
              0.0943701021958049,
              0.007121955031406601,
              0.33160469459070746
            ],
            [
              0.10505834087161553,
              0.017594761768592763,
              0.31029483613758196
            ],
            [
              0.11619523820440569,
              0.029251768794059323,
              0.289847051434957
            ],
            [
              0.1275941667038975,
              0.04175354170489001,
              0.27005311677223776
            ],
            [
              0.13910817641691076,
              0.054703430049376486,
              0.2506171264842057
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.4000000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.1386932192503619,
            0.05438195761139525,
            0.25229049145317856
          ],
          "endpoint_velocity": [
            -0.01884604379024804,
            -0.01375028765860889,
            0.08375562090370758
          ],
          "last_action": [
            -0.022938508673288248,
            -0.022645049932620134,
            0.16975809551679474
          ],
          "reason": "running",
          "reward": 0.0017427051749996049,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04523307963054336,
              -0.0011335299045216868,
              0.6824406536461937
            ],
            [
              0.054447043487364066,
              -0.0034458307707582302,
              0.6581963818073034
            ],
            [
              0.0568731217146685,
              -0.006506086697396898,
              0.6324519076748144
            ],
            [
              0.05575199183162215,
              -0.009951880969901824,
              0.6066662810608102
            ],
            [
              0.05327995562214611,
              -0.013491989800316004,
              0.5809877908270434
            ],
            [
              0.05082778810512503,
              -0.016843535815289627,
              0.5552820913804634
            ],
            [
              0.049236162181175096,
              -0.019707212914750662,
              0.5294500366683783
            ],
            [
              0.0490077800811602,
              -0.021772261165127437,
              0.5034940814446189
            ],
            [
              0.050418936266244455,
              -0.022734274064171337,
              0.47751114635856917
            ],
            [
              0.0535842313896697,
              -0.022316605139836465,
              0.4516686493103145
            ],
            [
              0.058496010420888096,
              -0.02029157780644636,
              0.42617743738766756
            ],
            [
              0.06505129392228218,
              -0.01649961657380926,
              0.401264006581995
            ],
            [
              0.07307400261473739,
              -0.010864655733532094,
              0.3771411635529833
            ],
            [
              0.08233714225223644,
              -0.003403852631517816,
              0.35397742345413574
            ],
            [
              0.09258658961907218,
              0.00576985417882158,
              0.33186811142696265
            ],
            [
              0.10356565163753992,
              0.01645256319407672,
              0.3108118031197637
            ],
            [
              0.11503742811126937,
              0.028359956333146908,
              0.29069612447333965
            ],
            [
              0.12680040830455133,
              0.04113975675686887,
              0.27129667230620885
            ],
            [
              0.1386932192503619,
              0.05438195761139525,
              0.25229049145317856
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.4200000000000003
        },
        {
          "contact_count": 0,
          "endpoint_position": [
            0.13831623501723186,
            0.054098014596685194,
            0.25385054232648063
          ],
          "endpoint_velocity": [
            -0.016792352961318646,
            -0.011781032986761197,
            0.07733995960347537
          ],
          "last_action": [
            -0.01919865674177517,
            -0.019834106982785336,
            0.15423788458868418
          ],
          "reason": "success",
          "reward": 1.001611914757284,
          "rope_points": [
            [
              0.0,
              0.0,
              0.7
            ],
            [
              0.026038985699415207,
              0.0,
              0.7
            ],
            [
              0.04514630053055509,
              -0.0011867973742388628,
              0.6823497646420635
            ],
            [
              0.054178540779839,
              -0.003594782682013533,
              0.6580464968559085
            ],
            [
              0.05637925907306073,
              -0.0067743654532869835,
              0.6322962335047422
            ],
            [
              0.05501608658832315,
              -0.010354395803167642,
              0.6065405717246459
            ],
            [
              0.05229562291047059,
              -0.014040246903005664,
              0.5809077456361106
            ],
            [
              0.04959489027168417,
              -0.017546179975913918,
              0.5552475927378521
            ],
            [
              0.047762568417894564,
              -0.020568178962694722,
              0.5294495484513573
            ],
            [
              0.0473127325269581,
              -0.022788072336659766,
              0.5035092725214979
            ],
            [
              0.04853585078087973,
              -0.023891462497920176,
              0.4775224247293654
            ],
            [
              0.05156173443027162,
              -0.023590017750115842,
              0.4516616174441674
            ],
            [
              0.0563966166841041,
              -0.021644187500511735,
              0.42614954476339345
            ],
            [
              0.06294769988269058,
              -0.017884198256106404,
              0.4012301640309262
            ],
            [
              0.07104354239651849,
              -0.012227275169982291,
              0.37713691291309726
            ],
            [
              0.0804554411949207,
              -0.004688618349304453,
              0.3540585029031665
            ],
            [
              0.09092168725900673,
              0.004615734742972918,
              0.33210590731306067
            ],
            [
              0.10217370931943845,
              0.015474493258475702,
              0.3112850630148257
            ],
            [
              0.1139605774037003,
              0.027593187186563943,
              0.2914801345251968
            ],
            [
              0.12606647218881023,
              0.04060822953658651,
              0.27245158412424736
            ],
            [
              0.13831623501723186,
              0.054098014596685194,
              0.25385054232648063
            ]
          ],
          "target": [
            0.1363022024814282,
            0.05205478972165149,
            0.25980817043463966
          ],
          "time": 0.44000000000000034
        }
      ]
    }
  ],
  "hardware": {
    "machine": "arm64",
    "mujoco": "3.15.0",
    "numpy": "2.5.3",
    "process_lifetime_peak_rss_bytes": 56295424,
    "python": "3.12.9",
    "system": "Darwin"
  },
  "native_network_policy": {
    "errno": 1,
    "native_connect_self_test": "127.0.0.1:9 via libc, denied before rollouts",
    "passed": true,
    "platform": "macOS sandbox-exec",
    "policy": "(version 1) (allow default) (deny network*)",
    "scope": "Installed runtime and child process network denied; does not exercise air-gapped installation or another operating system."
  },
  "network_guard": {
    "attempted_calls": [],
    "enabled": true,
    "guard_self_test_passed": true,
    "scope": "Python socket calls during rollouts/training after dependency imports; not native C or installation"
  },
  "observations": "privileged simulator state",
  "policy_parameters": {
    "force_limit": 2.0,
    "gravity_bias": 0.1,
    "kd": 0.25,
    "kp": 10.0
  },
  "schema_version": 1,
  "scope": "simulation-only",
  "summary": {
    "episode_wall_seconds": 0.370000874157995,
    "episodes": 3,
    "simulated_seconds": 1.280000000000001,
    "successes": 3
  },
  "task": "CableEndReach-v0",
  "timing_scope": "Episode clock includes construction/reset/settling, policy, physics, observations and trace collection. Step-loop clock excludes trace append/reset. Output I/O, viewer, installation and training optimization excluded; no GPU metric."
}