| { | |
| "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", | |
| "kind": "perpetual", | |
| "entry_pose": "standing", | |
| "description": "roller", | |
| "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": "9fe37534b", | |
| "branch": "main", | |
| "dirty": false, | |
| "source_file": "policy.onnx" | |
| }, | |
| "arena": { | |
| "event": "roller-sprint-2m" | |
| } | |
| } | |