Your task is to build a function f which takes the current state observation (a dictionary describing the current state) and returns the muscle excitations action (19-dimensional vector) maximizing the total reward. The objective is to follow the requested velocity vector. The trial ends either if the pelvis of the model falls below 0.6 meters or if you reach 1000 iterations (corresponding to 10 seconds in the virtual environment). The total reward is 9 * s - p * p where s is the number of steps before reaching one of the stop criteria and p is the absolute difference between horizonal velocity and 3. You can interpret it as a request to run at a constat speed of 3 meters per second.