| { | |
| "schema_version": 2, | |
| "model_api": 1, | |
| "obs_len": 61, | |
| "action_len": 14, | |
| "robot": { | |
| "model": "microduck", | |
| "hw_rev": 1, | |
| "servos": "xl330", | |
| "control_hz": 50 | |
| }, | |
| "name": "groove", | |
| "kind": "episodic", | |
| "entry_pose": "standing", | |
| "description": "In-place groove: rhythmic knee bounce with a small head sway (sim-trained, untested on hardware)", | |
| "command": { | |
| "encoding": "constant", | |
| "idle": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "twist": "unused (zeros)", | |
| "head": "unused (zeros)", | |
| "body": "unused (zeros)" | |
| }, | |
| "duration_s": 10.0, | |
| "chain": false, | |
| "training": { | |
| "repo": "pollen-robotics/microduck_rl", | |
| "commit": "2f3f4ea1d", | |
| "branch": "dance", | |
| "dirty": false, | |
| "task_id": "Mjlab-Dance-Flat-MicroDuck", | |
| "checkpoint": 3999 | |
| } | |
| } | |