{
  "schema_version": 2,
  "model_api": 1,
  "name": "backflip",
  "kind": "episodic",
  "obs_len": 61,
  "action_len": 14,
  "action_scale": 1.0,
  "entry_pose": "standing",
  "duration_s": 0.3,
  "description": "Backflip from a stand (head-spring style) and land on its feet; starts when twist[0] goes to 1. SIM ONLY.",
  "command": {
    "encoding": "constant",
    "idle": [
      0,
      0,
      0
    ],
    "twist": [
      "start switch: 1 for ~0.2-0.5 s starts the flip, then 0 while it flies and lands (install with --command 1,0,0)",
      "unused (0)",
      "unused (0)"
    ],
    "head": "unused (zeros)",
    "body": "unused (zeros)"
  },
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50
  },
  "training": {
    "task_id": "Mjlab-Backflip-Flat-MicroDuck",
    "repo": "pollen-robotics/microduck_rl",
    "commit": "4757d6ae",
    "branch": "flamingo",
    "dirty": true,
    "run": "local 2026-10-26_15-47-20_run2, model_2999 (3000 it, 4096 envs, RTX 5080, 1h34m)",
    "checkpoint": 2999
  },
  "eval": {
    "sim_proxy": "mjlab training env with full domain randomization (64 standing starts per row), plus duck-sim (real robotd vs MuJoCo body)",
    "training_env": "switch at 1.0 s for 0.3 s: 100% full flip and land; at 0.3 s / 2.5 s: 100%; window 0.2 / 0.5 s: 100% / 98%; switch at the first step: 88%; switch never on: 0 flips, 100% standing",
    "duck_sim": "robot do backflip x30 with --command 1,0,0 --hold 0.3 --unwind 2.5: 29/30 full flips, 30/30 ended standing, no fall/limp verdicts, 1.00x real time",
    "peak_impact_m_s2": 26,
    "known_limits": "head-spring: the head pushes off the floor for ~0.1-0.3 s every flip; ~2.6 g landing peaks; never tested on hardware"
  }
}