{
  "name": "microduck",
  "title": "Microduck by Pollen Robotics (25 cm biped, 15 servos)",
  "notes": [
    "Velocity limits are the trained ranges of the Microduck walking policies (vx +-0.4 m/s, vy +-0.3 m/s, vyaw +-1 rad/s).",
    "achieved: measured speed / commanded speed for your walking policy. 1.0 until you calibrate it with `python -m flymotion calibrate`.",
    "gait: below min_speed an axis only steps in place, start_seconds is the time to start walking from standing. 0 until you measure them on your robot.",
    "head_look: the head angles of \"look left\", \"look up\"... head_sign: flip a sign if the head turns the wrong way on your robot."
  ],
  "limits": {
    "vx": 0.4,
    "vy": 0.3,
    "vyaw": 1.0,
    "head_deg": 30,
    "step_seconds": 40,
    "plan_seconds": 60,
    "meters": 3,
    "degrees": 720
  },
  "cruise": { "vx": 0.2, "vy": 0.15, "vyaw": 0.8 },
  "achieved": { "vx": 1.0, "vy": 1.0, "vyaw": 1.0 },
  "gait": { "start_seconds": 0.0, "min_meters": 0.05, "min_speed": { "vx": 0.0, "vy": 0.0, "vyaw": 0.0 } },
  "head_look": { "yaw_deg": 30, "pitch_deg": 20 },
  "head_sign": { "yaw": 1, "pitch": 1, "roll": 1 },
  "skills": {
    "kick_left": "kick a ball with the left foot",
    "kick_right": "kick a ball with the right foot",
    "roulade": "forward roll on the ground",
    "ground_pick": "bend down and pick something up from the ground",
    "sit_toggle": "sit down, or stand up again if already sitting",
    "polite-bow": "polite bow to greet someone"
  },
  "skill_seconds": 4,
  "rate_hz": 10,
  "transport": "unix:/run/robotd.sock",
  "skill_command": ["robotctl", "robot", "do", "{skill}"]
}