Code:

{"1.2839901447296143": {"0": {"joint_positions": -0.2660407240964722}, "1": {"joint_positions": 0.5304539359064856}, "2": {"joint_positions": -0.44852838864481787}, "3": {"joint_positions": -0.14016010671763662}, "4": {"joint_positions": 0.5558784919638431}, "5": {"joint_positions": 0.463813963178519}, "6": {"joint_positions": 0.1232185850913412}, "7": {"joint_positions": 0.5509734074329725}, "8": {"joint_positions": -0.5095558255751145}, "9": {"joint_positions": 0.08173290868566063}, "10": {"joint_positions": 0.3949344400183078}

Code:

import pybullet as pimport timeimport json# Connect to the PyBullet physics serverp.connect(p.GUI)p.setRealTimeSimulation(0)# Load the humanoid modelskeleton = p.loadURDF("skeleton.urdf", useFixedBase=False)p.setTimeStep(0.01)# add a ground planeplane_id = p.createCollisionShape(p.GEOM_PLANE)ground = p.createMultiBody(baseCollisionShapeIndex=plane_id, basePosition=[0, 0, 0])# enable collisions between the humanoid model and the ground planep.setCollisionFilterPair(skeleton, ground, -1, -1, 1)# set the gravityp.setGravity(0, 0, -9.8)# load the joint angles from json filewith open("joint_angles.json", "r") as file:    joint_angles = json.load(file)# Initialize a dictionary to store the current joint anglescurrent_joint_angles = {joint_num: 0 for joint_num in range(p.getNumJoints(skeleton))}# Get the start timestart_time = time.time()  +offset = [0, 0, 1]position, orientation = p.getBasePositionAndOrientation(skeleton)new_position = [position[i] + offset[i] for i in range(3)]p.resetBasePositionAndOrientation(skeleton, new_position, orientation)n = 1# Get the list of all time framestime_frames = list(joint_angles.keys())# Iterate through the time frames and set the joint anglsfor i, keyframe_time in enumerate(time_frames):    keyframe_time = float(keyframe_time)    current_time = time.time() - start_time     time_to_sleep = keyframe_time - current_time    while time_to_sleep > 0:        time_to_sleep = keyframe_time - current_time    # Sleep for the calculated amount of time    time.sleep(time_to_sleep)    # Get the joint angles for this time frame    for joint_num, joint_data in joint_angles[str(keyframe_time)].items():        joint_positions = joint_data['joint_positions']        p.setJointMotorControl2(bodyIndex=0, jointIndex=int(joint_num), controlMode=p.POSITION_CONTROL, targetPosition=joint_positions)# Step the simulation    p.stepSimulation()print(time.time() - start_time)p.disconnect()