{
  "schema_version": 2,
  "model_api": 1,
  "obs_len": 61,
  "action_len": 14,
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50
  },
  "name": "walk-flat",
  "kind": "perpetual",
  "entry_pose": "standing",
  "description": "v2: the v1 flat-ground walk fine-tuned with +-1 deg of gear play in every servo (Mjlab-Velocity-Flat-Backlash-MicroDuck), simulation only: v1's 4,000 iterations plus 3,000 with the slop, 4096 envs, 57 min on one RTX 5090. With the slop it stayed on its feet for 20 s in 4 of 5 takes; v1 did 2 of 5 in the same sim (small sample, the training fall rate did not improve). 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": null,
  "slot": "walk",
  "training": {
    "repo": "pollen-robotics/microduck_rl",
    "commit": "53b8971b6",
    "branch": "develop",
    "dirty": true,
    "source_file": "velbl-2026-09-25-it7000.onnx"
  }
}