{
  "format": "s10-terrain-policy-v1",
  "step": 50000,
  "history": 5,
  "actor_schema": "s10-v7-53",
  "actor_wheel_vel": true,
  "frame_dim": 53,
  "observation_dim": 265,
  "action_dim": 16,
  "dt": 0.02,
  "actor_hidden": [
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    128,
    64
  ],
  "actor_params": 110288,
  "frame_terms": [
    {
      "name": "base_ang_vel",
      "dim": 3,
      "scale": 1.0
    },
    {
      "name": "projected_gravity",
      "dim": 3,
      "scale": 1.0
    },
    {
      "name": "joint_pos_rel",
      "dim": 12,
      "scale": 1.0
    },
    {
      "name": "joint_vel_rel",
      "dim": 12,
      "scale": 0.05
    },
    {
      "name": "wheel_vel_rel",
      "dim": 4,
      "scale": 0.05
    },
    {
      "name": "last_action",
      "dim": 16,
      "scale": 1.0
    },
    {
      "name": "command",
      "dim": 3,
      "scale": 1.0
    }
  ],
  "history_layout": "term-wise blocks, oldest to newest (mjlab flattening)",
  "env_action_order": [
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    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15
  ],
  "leg_scale": [
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    0.6,
    0.8,
    0.25,
    0.6,
    0.8,
    0.25,
    0.6,
    0.8,
    0.25,
    0.6,
    0.8
  ],
  "wheel_scale": 35.0,
  "wheel_clip": 35.0,
  "default_joint_pos": [
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    -0.4363323129985824,
    1.0,
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    1.0,
    0.05,
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    -1.0,
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    -1.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "leg_joint_names": [
    "fl_hipx_joint",
    "fl_hipy_joint",
    "fl_knee_joint",
    "fr_hipx_joint",
    "fr_hipy_joint",
    "fr_knee_joint",
    "hl_hipx_joint",
    "hl_hipy_joint",
    "hl_knee_joint",
    "hr_hipx_joint",
    "hr_hipy_joint",
    "hr_knee_joint"
  ],
  "wheel_joint_names": [
    "fl_wheel_joint",
    "fr_wheel_joint",
    "hl_wheel_joint",
    "hr_wheel_joint"
  ],
  "onnx": {
    "input": "obs",
    "output": "actions",
    "opset": 17,
    "max_abs_error_vs_torch": 7.897615432739258e-07
  }
}