{
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  "servo_hz": 100,
  "control_mode": "torque",
  "actuator_mode": "torque",
  "smoothing": "none",
  "differential_ik": "dls",
  "external_targets": false,
  "last_input_error": null,
  "actuator_command_units": "Nm",
  "ik_failures": 0,
  "last_ik_error": null,
  "simulated_seconds": 18.0,
  "steps": 1800,
  "feedback": "MuJoCo qpos/qvel",
  "position_rmse_m": 0.0070393173885478074,
  "position_max_error_m": 0.017615628947803684,
  "final_position_error_m": 7.669327875404728e-05,
  "max_joint_tracking_error_rad": 0.0016016912995362453,
  "final_action": "HOLD",
  "actions": {
    "HOLD": 434,
    "TRACK": 1364,
    "BRAKE": 2
  },
  "flags": [
    "COLLISION_DISABLED",
    "GOAL_REACHED",
    "MODE_SWITCH"
  ],
  "servo_collision_monitor": "disabled",
  "trajectory": "figure eight, fixed TCP orientation",
  "completed": true,
  "recording": {
    "fps": 30,
    "width": 960,
    "height": 640
  }
}