{
 "schema_version": 2,
 "model_api": 1,
 "obs_len": 61,
 "action_len": 14,
 "robot": {
  "model": "microduck",
  "hw_rev": 1,
  "servos": "xl330",
  "control_hz": 50
 },
 "name": "Kick (right foot)",
 "kind": "episodic",
 "entry_pose": "standing",
 "description": "Pollen Robotics' kick: a 0.5 s right-foot kick at a ball placed in front of the foot, then back to the walk.",
 "command": {
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  "idle": [
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   0.0,
   0.0
  ],
  "twist": "unused (zeros)",
  "head": "unused (zeros)",
  "body": "unused (zeros)"
 },
 "duration_s": 0.5,
 "chain": false,
 "training": {
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  "commit": "2b25a48",
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  "iterations": 3999,
  "num_envs": 4096,
  "source_file": "policy.onnx",
  "trained_by": "microduck-academy (spikes/base_moves)"
 },
 "slot": "kick_right",
 "judge_score": null,
 "vlm": null,
 "score": null,
 "battery": null,
 "rollouts": [
  {
   "k": 0,
   "primary": true,
   "take": "showcase",
   "duration_s": 3.0,
   "chain": [
    [
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     "tfrere/microduck-move-base-walk"
    ]
   ],
   "scene": "scenes/scene_ball.xml"
  }
 ],
 "checkpoints": [],
 "video": "video.mp4",
 "poster": "poster.jpg",
 "clip": {
  "renderer": "chromium-webgl",
  "fps": 25,
  "seconds": 3.0,
  "width": 640,
  "height": 480,
  "t0": 0,
  "rendered_at": 1789420176
 },
 "academy": {
  "origin": "pollen-upstream",
  "official": true,
  "author_label": "Pollen Robotics",
  "author_hub": "pollen-robotics",
  "author": "tfrere",
  "source_task": "Mjlab-BallKick-Flat-MicroDuck",
  "source_policy": "pollen-robotics/microduck-policies#ball_kick_right.onnx",
  "family": "ballkick",
  "kind": "trick",
  "tier": 1,
  "mode": "train",
  "prompt": "Kick (right foot)",
  "objective": "Pollen Robotics' kick: a 0.5 s right-foot kick at a ball placed in front of the foot, then back to the walk.",
  "intents": [],
  "judge": {
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   "pass": null,
   "numbers": {
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    "max_tilt": 0.261,
    "base_z_mean": 0.1149,
    "base_z_min": 0.1106,
    "ball_travel_m": 0.338,
    "ball_travel_x_m": 0.338,
    "ball_travel_y_m": -0.017,
    "ball_peak_speed_m_s": 0.477,
    "upright_at_0_5s": true,
    "tilt_at_0_5s": 0.027
   }
  },
  "rounds": [],
  "lineage": [],
  "remix_from": null,
  "session": null,
  "run_repo": "tfrere/microduck-base-kick-right-train",
  "shipped_round": null,
  "checkpoint_iter": 3999,
  "upstream_sha": "2b25a48",
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   "checkpoint_iter": 3999,
   "checkpoint": "ball_kick_right/2026-09-14_15-50-37_ball_kick_right/model_3999.pt",
   "upstream_sha": "2b25a48",
   "upstream_repo": "pollen-robotics/microduck_rl",
   "num_envs": 4096,
   "job_id": "6aa8175cf76d6a098a708bc4",
   "accelerator": "gpu",
   "finished_at": 1789409672.5522425,
   "flavor": "a100-large",
   "run_minutes": 145.5,
   "cost_usd": 6.06,
   "staging_repo": "tfrere/microduck-base-kick-right-train",
   "launcher": "spikes/base_moves/base_move_job.py"
  },
  "fidelity": {
   "takes": {
    "kick": {
     "trained": {
      "final_upright": true,
      "max_tilt": 0.261,
      "base_z_mean": 0.1149,
      "base_z_min": 0.1106,
      "ball_travel_m": 0.338,
      "ball_travel_x_m": 0.338,
      "ball_travel_y_m": -0.017,
      "ball_peak_speed_m_s": 0.477,
      "upright_at_0_5s": true,
      "tilt_at_0_5s": 0.027
     },
     "pollen": {
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      "max_tilt": 0.261,
      "base_z_mean": 0.1141,
      "base_z_min": 0.1125,
      "ball_travel_m": 0.326,
      "ball_travel_x_m": 0.326,
      "ball_travel_y_m": 0.018,
      "ball_peak_speed_m_s": 0.503,
      "upright_at_0_5s": true,
      "tilt_at_0_5s": 0.008
     }
    }
   },
   "pollen_policy": "pollen-robotics/microduck-policies#ball_kick_right.onnx",
   "recorder": "space/payload/render/rollout.py",
   "scenes": "the upstream robot MJCF at timestep 0.005 (spikes/base_moves/fidelity.py)"
  },
  "remixable": true,
  "remix_checkpoint": "base/model.pt",
  "shipped_at": 1789420176.164145
 }
}