{
 "note": "Reference observation from the f64 oracle/screener obs builder (identical formula to body.py H2Ball._obs), at step 0 of screener episode seed [777,0]. obs is float32. R = pelvis xmat (world<-body); p = pelvis qpos[:3]. Ball history initialised by tiling the current ball pos/vel NH times, oldest first.",
 "obs_dim": 137,
 "NU": 29,
 "NH": 5,
 "EP": 172,
 "feed_index": 7644,
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 "qpos": [
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 "qvel": [
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 "Q0": [
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 "layout": [
  {
   "name": "gravity_in_pelvis",
   "start": 0,
   "len": 3
  },
  {
   "name": "pelvis_angvel_local",
   "start": 3,
   "len": 3
  },
  {
   "name": "joint_pos_minus_Q0",
   "start": 6,
   "len": 29
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  {
   "name": "0.1*joint_vel",
   "start": 35,
   "len": 29
  },
  {
   "name": "last_action",
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   "len": 29
  },
  {
   "name": "ball_pos_rel_pelvis_local",
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   "len": 3
  },
  {
   "name": "0.1*ball_vel_local",
   "start": 96,
   "len": 3
  },
  {
   "name": "racket_center_minus_ball_local",
   "start": 99,
   "len": 3
  },
  {
   "name": "pelvis_linvel_local(R.T@qvel[0:3])",
   "start": 102,
   "len": 3
  },
  {
   "name": "pelvis_height",
   "start": 105,
   "len": 1
  },
  {
   "name": "step/EP",
   "start": 106,
   "len": 1
  },
  {
   "name": "ball_history_pos_rel_pelvis(NH x3, @R)",
   "start": 107,
   "len": 15
  },
  {
   "name": "ball_history_0.1*vel(NH x3, @R)",
   "start": 122,
   "len": 15
  }
 ],
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 "action_map": "ctrl = clip(Q0 + 0.3*tanh(policy_mean), ctrlrange); 10 physics substeps of 2 ms per 20 ms control step; aero drag+Magnus force applied to ball each substep"
}