{
  "schema_version": 2,
  "model_api": 1,
  "obs_len": 61,
  "action_len": 14,
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50
  },
  "name": "backroll",
  "kind": "episodic",
  "entry_pose": "standing",
  "description": "Backward roll: rolls over the back and stands up. Sim-only, not yet tested on a real robot - try on a soft surface first.",
  "command": {
    "encoding": "constant",
    "idle": [
      0.0,
      0.0,
      0.0
    ],
    "twist": "unused (zeros)",
    "head": "unused (zeros)",
    "body": "unused (zeros)"
  },
  "duration_s": 4.0,
  "chain": false,
  "training": {
    "repo": "pollen-robotics/microduck_rl",
    "commit": "b02fdea49",
    "branch": "backroll",
    "dirty": true,
    "task_id": "Mjlab-Backroll-Flat-MicroDuck"
  }
}