{
  "schema_version": 2,
  "model_api": 1,
  "obs_len": 61,
  "action_len": 14,
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50,
    "accessories": [
      "rollers"
    ]
  },
  "name": "roller-sprint-2m-reference",
  "kind": "perpetual",
  "entry_pose": "standing",
  "description": "Pollen's reference for the Microduck Arena's 2 m Roller Sprint: the roller_sprint_2m challenge of microduck-challenges trained unchanged with its recipe (4096 envs, 3000 iterations, seed 1).",
  "command": {
    "encoding": "constant",
    "idle": [
      0.0,
      0.0,
      0.0
    ],
    "twist": "[push: 0 coast, >0 push m/s, <0 brake; lateral 0; heading error rad]; the Arena commands [vx, 0, 0]",
    "head": "unused (zeros)",
    "body": "unused (zeros)"
  },
  "duration_s": null,
  "slot": "walk",
  "training": {
    "repo": "https://github.com/pollen-robotics/microduck-challenges.git",
    "commit": "611b6453c",
    "branch": "main",
    "dirty": false,
    "command": [
      "train",
      "Mjlab-RollerSprint2m-MicroDuck",
      "--env.scene.num-envs",
      "4096",
      "--agent.max-iterations",
      "3000",
      "--agent.seed",
      "1",
      "--agent.logger",
      "tensorboard",
      "--agent.run-name",
      "reference"
    ],
    "seed": 1,
    "base": "mjlab-microduck 0.1.0 @ 981a279c6",
    "started": "2026-09-26T04:21:50Z",
    "task_id": "Mjlab-RollerSprint2m-MicroDuck",
    "checkpoint": 2999,
    "source_file": "model_2999.pt"
  },
  "arena": {
    "event": "roller-sprint-2m"
  }
}