{
  "platform": "Windows-11-10.0.26200-SP0",
  "python": "3.12.14",
  "versions": {
    "flygym": "2.1.0",
    "mujoco": "3.9.0",
    "numpy": "2.5.3",
    "scipy": "1.18.1",
    "numba": "0.67.0"
  },
  "source": "https://neuromechfly.org/tutorials/4d_turning_controller/",
  "controller": "Upstream designed hybrid turning controller with preprogrammed steps and contact feedback",
  "flm_connected": false,
  "learning_used": false,
  "repeat_max_position_error_mm": 0.0,
  "trials": [
    {
      "label": "symmetric",
      "seed": 17,
      "descending_signal": [
        1.0,
        1.0
      ],
      "simulation_seconds": 1.0,
      "physics_steps": 10000,
      "timestep_seconds": 0.0001,
      "recorded_samples": 1001,
      "actuated_joint_dofs": 42,
      "displacement_mm": [
        13.461109003766943,
        1.3655569052344496,
        -0.06559566767844549
      ],
      "yaw_change_rad": 0.1400626022745992,
      "minimum_thorax_height_mm": 0.637054966725814,
      "minimum_thorax_up_z": 0.9641693639917782,
      "mean_contact_count": 6.343656343656344,
      "wall_seconds": 22.49347950005904,
      "includes_rendering": false,
      "trajectory_sha256": "7aaaf1e68e352a3403898025fce8fbec3826e25c07b9c690484aa20cbe402e08"
    },
    {
      "label": "left_drive",
      "seed": 17,
      "descending_signal": [
        1.2,
        0.4
      ],
      "simulation_seconds": 1.0,
      "physics_steps": 10000,
      "timestep_seconds": 0.0001,
      "recorded_samples": 1001,
      "actuated_joint_dofs": 42,
      "displacement_mm": [
        0.7241702296347332,
        -7.725654319951476,
        -0.186146837734379
      ],
      "yaw_change_rad": -2.5558148594220116,
      "minimum_thorax_height_mm": 0.808322094042991,
      "minimum_thorax_up_z": 0.9829840036945325,
      "mean_contact_count": 6.312687312687313,
      "wall_seconds": 25.452910100109875,
      "includes_rendering": true,
      "trajectory_sha256": "92a1e92c7cb7d25528d5ce455461da737dc4d9d7846a34ebe8275cc33725e391"
    },
    {
      "label": "right_drive",
      "seed": 17,
      "descending_signal": [
        0.4,
        1.2
      ],
      "simulation_seconds": 1.0,
      "physics_steps": 10000,
      "timestep_seconds": 0.0001,
      "recorded_samples": 1001,
      "actuated_joint_dofs": 42,
      "displacement_mm": [
        -0.3669834920833525,
        7.080938313838222,
        0.011682076418694454
      ],
      "yaw_change_rad": 2.8108133339645214,
      "minimum_thorax_height_mm": 0.7417776048581377,
      "minimum_thorax_up_z": 0.9818478233820102,
      "mean_contact_count": 6.501498501498501,
      "wall_seconds": 20.78035239991732,
      "includes_rendering": false,
      "trajectory_sha256": "002e9d257bde881ecbf218107738859667362c7a5b75817023694c5f1e62a348"
    },
    {
      "label": "symmetric_repeat",
      "seed": 17,
      "descending_signal": [
        1.0,
        1.0
      ],
      "simulation_seconds": 1.0,
      "physics_steps": 10000,
      "timestep_seconds": 0.0001,
      "recorded_samples": 1001,
      "actuated_joint_dofs": 42,
      "displacement_mm": [
        13.461109003766943,
        1.3655569052344496,
        -0.06559566767844549
      ],
      "yaw_change_rad": 0.1400626022745992,
      "minimum_thorax_height_mm": 0.637054966725814,
      "minimum_thorax_up_z": 0.9641693639917782,
      "mean_contact_count": 6.343656343656344,
      "wall_seconds": 15.57423000014387,
      "includes_rendering": false,
      "trajectory_sha256": "7aaaf1e68e352a3403898025fce8fbec3826e25c07b9c690484aa20cbe402e08"
    }
  ],
  "caution": "Physics and controller calibration only. Descending commands are prescribed; these trials do not demonstrate learned behavior or language transfer."
}