{
  "scope": "six-joint fixed-base integrator; posture tasks only; no learned policy",
  "dt": 0.02,
  "steps": 250,
  "numpy": "2.3.5",
  "scipy": "1.17.1",
  "osqp": "1.1.3",
  "wbc": {
    "initial_joint_error_rad": 0.529150262212918,
    "final": {
      "step": 250,
      "time": 4.999999999999981,
      "replan_reason": "direct",
      "joint_error_rad": 7.182944671351421e-10,
      "max_velocity_bound_violation": 0.0,
      "solver_violation": 0.0
    },
    "replan_reasons": {
      "direct": 250
    },
    "max_velocity_bound_violation": 3.068506559955608e-11
  },
  "mpc-wbc": {
    "initial_joint_error_rad": 0.529150262212918,
    "final": {
      "step": 250,
      "time": 4.999999999999981,
      "replan_reason": "reused",
      "joint_error_rad": 5.026748538604307e-16,
      "max_velocity_bound_violation": 0.0,
      "solver_violation": 0.0
    },
    "replan_reasons": {
      "initial": 1,
      "reused": 200,
      "periodic": 49
    },
    "max_velocity_bound_violation": 1.1131162658273297e-09
  }
}