{
  "schema_version": 2,
  "model_api": 1,
  "obs_len": 61,
  "action_len": 14,
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50
  },
  "name": "roulade",
  "kind": "episodic",
  "entry_pose": "standing",
  "description": "Forward roll from a standing start, trained in simulation only (mjlab / MuJoCo Warp, 10,000 iterations, 4096 envs, 173 min on one RTX 5090). 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": 2.0,
  "chain": true,
  "training": {
    "repo": "pollen-robotics/microduck_rl",
    "commit": "53b8971b6",
    "branch": "develop",
    "dirty": false,
    "source_file": "roulade-2026-09-21-it10000.onnx"
  }
}