{
  "schema_version": 2,
  "model_api": 1,
  "obs_len": 61,
  "action_len": 14,
  "robot": {
    "model": "microduck",
    "hw_rev": 1,
    "servos": "xl330",
    "control_hz": 50
  },
  "name": "standup",
  "kind": "episodic",
  "entry_pose": "on the ground (sitting or face down)",
  "description": "v2: the v1 get-up policy fine-tuned with +-1 deg of gear play in every servo (Mjlab-StandUp-Flat-Backlash-MicroDuck), simulation only: v1's 25,000 iterations plus 3,000 with the slop, 4096 envs, 63 min on one RTX 5090. With the slop it stood from face down (3 of 3, still leaning forward about 35 deg) and from sitting (3 of 3) and held a standing start (3 of 3), the same as v1 in the same sim; from flat on its back it still freezes half-rolled (0 of 3). Not yet tested on a real Microduck.",
  "command": {
    "encoding": "constant",
    "idle": [
      0.0,
      0.0,
      0.0
    ],
    "twist": "unused (zeros)",
    "head": "unused (zeros)",
    "body": "unused (zeros)"
  },
  "duration_s": 6.0,
  "chain": false,
  "training": {
    "repo": "pollen-robotics/microduck_rl",
    "commit": "53b8971b6",
    "branch": "develop",
    "dirty": true,
    "source_file": "subl-2026-10-02-it28000.onnx"
  }
}