simple_reference_v3/simple_reference_summary.json

{
  "version": "simple-v3",
  "control_hz": 50,
  "bpm": 111.0,
  "walls": 4,
  "counts_per_wall": 16,
  "duration_seconds": 34.5945945945946,
  "sample_count": 1730,
  "joint_order": [
    "left_hip_yaw",
    "left_hip_roll",
    "left_hip_pitch",
    "left_knee",
    "left_ankle",
    "neck_pitch",
    "head_pitch",
    "head_yaw",
    "head_roll",
    "right_hip_yaw",
    "right_hip_roll",
    "right_hip_pitch",
    "right_knee",
    "right_ankle"
  ],
  "stand_pose_14d": [
    0.0,
    -0.08726646259971647,
    -0.457924,
    -0.00494,
    0.452984,
    0.3490658503988659,
    0.3490658503988659,
    0.0,
    0.0,
    0.0,
    0.08726646259971647,
    0.457924,
    0.00494,
    -0.452984
  ],
  "command_order_13d": [
    "vx",
    "vy",
    "yaw_rate",
    "neck_pitch",
    "head_pitch",
    "head_yaw",
    "head_roll",
    "body_x",
    "body_y",
    "body_z",
    "body_roll",
    "body_pitch",
    "body_yaw"
  ],
  "important": "nominal_joint_target_14d is STAND_POSE plus the v3 choreography bias. At runtime the official balance-policy action is added before joint-limit clipping. The beak-snap label is implemented through neck/head pitch because the official 14-actuator model has no jaw joint. The free root is never written."
}