| { | |
| "schema_version": 2, | |
| "model_api": 1, | |
| "obs_len": 61, | |
| "action_len": 14, | |
| "robot": { | |
| "model": "microduck", | |
| "hw_rev": 1, | |
| "servos": "xl330", | |
| "control_hz": 50 | |
| }, | |
| "name": "standup", | |
| "kind": "episodic", | |
| "entry_pose": "on the ground (sitting or face down)", | |
| "description": "Get-up policy (Mjlab-StandUp-Flat-MicroDuck), simulation only: 25,000 iterations (the maker's 15,000 plus a 10,000 extension), 4096 envs, 407 min on one RTX 5090. Stands from sitting and from face down and holds standing; from flat on its back it freezes half-rolled (0 of 2 takes). Not yet tested on a real Microduck.", | |
| "command": { | |
| "encoding": "constant", | |
| "idle": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "twist": "unused (zeros)", | |
| "head": "unused (zeros)", | |
| "body": "unused (zeros)" | |
| }, | |
| "duration_s": 6.0, | |
| "chain": false, | |
| "training": { | |
| "repo": "pollen-robotics/microduck_rl", | |
| "commit": "53b8971b6", | |
| "branch": "develop", | |
| "dirty": false, | |
| "source_file": "standup-2026-09-18-it25000.onnx" | |
| } | |
| } | |