{
  "platform": "RDK X5",
  "safe_mode": "MuJoCo simulation only; no servo commands",
  "mujoco_version": "3.10.0",
  "onnxruntime_version": "1.24.4",
  "policy_backend": "RDK TCP policy server 192.168.8.128:8765",
  "onnx_sha256": "216fff94da1b88159327c426686fcfcca4763f571b4d123be6b2ca549042f9f0",
  "onnx_contract": [
    [
      1,
      61
    ],
    [
      1,
      14
    ]
  ],
  "actuator_model": "BAM M6 XL330",
  "formation": {
    "rows": 3,
    "cols": 3,
    "ducks": 9
  },
  "simulation": {
    "duration_s": 12.0,
    "control_hz": 50.0,
    "control_steps": 600,
    "wall_seconds": 8.603464634,
    "realtime_factor": 1.3947869271848046
  },
  "policy_batch_or_roundtrip_latency_ms": {
    "mean": 7.5945689849999996,
    "p50": 5.391277,
    "p90": 8.585615900000004,
    "p99": 47.36651689999999,
    "max": 129.881929
  },
  "video": {
    "path": "/home/ubuntu/workspaces/microduck_rdk_demo/videos/microduck_rdk_brain_3x3_12s.mp4",
    "frames": 360,
    "fps": 30,
    "resolution": [
      960,
      540
    ],
    "bytes": 4415970
  },
  "ducks": [
    {
      "name": "duck0",
      "start_xy_m": [
        0.0,
        -0.3
      ],
      "end_xy_m": [
        1.2935027475332435,
        0.6500132411579219
      ],
      "displacement_xy_m": [
        1.2935027475332435,
        0.9500132411579219
      ],
      "forward_speed_mps": 0.10779189562777029,
      "minimum_trunk_height_m": 0.11427002872391545
    },
    {
      "name": "duck1",
      "start_xy_m": [
        0.0,
        0.0
      ],
      "end_xy_m": [
        1.1373273402104092,
        1.036314598094551
      ],
      "displacement_xy_m": [
        1.1373273402104092,
        1.036314598094551
      ],
      "forward_speed_mps": 0.09477727835086742,
      "minimum_trunk_height_m": 0.1142766437541735
    },
    {
      "name": "duck2",
      "start_xy_m": [
        0.0,
        0.3
      ],
      "end_xy_m": [
        1.1884204173532722,
        1.3004726739499242
      ],
      "displacement_xy_m": [
        1.1884204173532722,
        1.0004726739499241
      ],
      "forward_speed_mps": 0.09903503477943935,
      "minimum_trunk_height_m": 0.1142690363963128
    },
    {
      "name": "duck3",
      "start_xy_m": [
        -0.32,
        -0.3
      ],
      "end_xy_m": [
        1.0345601766149666,
        0.5744775522359622
      ],
      "displacement_xy_m": [
        1.3545601766149666,
        0.8744775522359622
      ],
      "forward_speed_mps": 0.11288001471791388,
      "minimum_trunk_height_m": 0.1142633408028708
    },
    {
      "name": "duck4",
      "start_xy_m": [
        -0.32,
        0.0
      ],
      "end_xy_m": [
        1.0194200480002449,
        0.8996315270999936
      ],
      "displacement_xy_m": [
        1.339420048000245,
        0.8996315270999936
      ],
      "forward_speed_mps": 0.11161833733335375,
      "minimum_trunk_height_m": 0.11427047851457728
    },
    {
      "name": "duck5",
      "start_xy_m": [
        -0.32,
        0.3
      ],
      "end_xy_m": [
        0.8557893841513963,
        1.3073024009545542
      ],
      "displacement_xy_m": [
        1.1757893841513962,
        1.0073024009545541
      ],
      "forward_speed_mps": 0.09798244867928302,
      "minimum_trunk_height_m": 0.11427607215902938
    },
    {
      "name": "duck6",
      "start_xy_m": [
        -0.64,
        -0.3
      ],
      "end_xy_m": [
        0.5587807496392405,
        0.6845201824665289
      ],
      "displacement_xy_m": [
        1.1987807496392406,
        0.9845201824665288
      ],
      "forward_speed_mps": 0.09989839580327005,
      "minimum_trunk_height_m": 0.1142693854767569
    },
    {
      "name": "duck7",
      "start_xy_m": [
        -0.64,
        0.0
      ],
      "end_xy_m": [
        0.6320225191337104,
        0.9396484523096369
      ],
      "displacement_xy_m": [
        1.2720225191337104,
        0.9396484523096369
      ],
      "forward_speed_mps": 0.10600187659447587,
      "minimum_trunk_height_m": 0.11426341824381879
    },
    {
      "name": "duck8",
      "start_xy_m": [
        -0.64,
        0.3
      ],
      "end_xy_m": [
        0.6926493858232754,
        1.1825087939310144
      ],
      "displacement_xy_m": [
        1.3326493858232755,
        0.8825087939310143
      ],
      "forward_speed_mps": 0.11105411548527296,
      "minimum_trunk_height_m": 0.11427093465107196
    }
  ]
}
