{
  "dt": 0.001,
  "policyHz": 100,
  "modelVersion": "community-12dof-1",
  "mass": 32.37127688334273,
  "pelvisBody": 1,
  "joints": [
    {
      "body": "left_hip_pitch_link",
      "qpos": 7,
      "dof": 6
    },
    {
      "body": "left_hip_roll_link",
      "qpos": 8,
      "dof": 7
    },
    {
      "body": "left_hip_yaw_link",
      "qpos": 9,
      "dof": 8
    },
    {
      "body": "left_knee_link",
      "qpos": 10,
      "dof": 9
    },
    {
      "body": "left_ankle_pitch_link",
      "qpos": 11,
      "dof": 10
    },
    {
      "body": "left_ankle_roll_link",
      "qpos": 12,
      "dof": 11
    },
    {
      "body": "right_hip_pitch_link",
      "qpos": 13,
      "dof": 12
    },
    {
      "body": "right_hip_roll_link",
      "qpos": 14,
      "dof": 13
    },
    {
      "body": "right_hip_yaw_link",
      "qpos": 15,
      "dof": 14
    },
    {
      "body": "right_knee_link",
      "qpos": 16,
      "dof": 15
    },
    {
      "body": "right_ankle_pitch_link",
      "qpos": 17,
      "dof": 16
    },
    {
      "body": "right_ankle_roll_link",
      "qpos": 18,
      "dof": 17
    }
  ],
  "source": "https://github.com/Ma-Dan/asimov_1_train",
  "commit": "f6d525d80e7d6b0fdac3b61f4dbc77544107dfa6",
  "checkpoint": "logs/asimov_stand/exported_policies/20000/policy_dh.jit",
  "checkpointSha256": "ab3c05632554e9f1a0dbeb0f3c727470f2d9d5a52278a5661596c38d265b34ba",
  "onnxSha256": "ed5ade9f1f28feb06d5b560cb7ae12330992ba56098958e9182f069c2cf7eda2",
  "gyroAddress": 0,
  "quatAddress": 9,
  "assumptions": [
    "Independent community checkpoint, not Menlo official firmware or the new Isaac Lab release.",
    "12 actuated leg joints; upper body fixed.",
    "Upstream simulated actuator limits 100/200/300 Nm; not hardware validated.",
    "Backyard dimensions and friction are estimates.",
    "No external pelvis stabilization, root translation or scripted gait.",
    "Stairs, manipulation and hardware transfer not validated."
  ]
}

Controller port attribution:
# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-FileCopyrightText: Copyright (c) 2021 ETH Zurich, Nikita Rudin
# SPDX-FileCopyrightText: Copyright (c) 2024 Beijing RobotEra TECHNOLOGY CO.,LTD. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause

# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# Copyright (c) 2024, AgiBot Inc. All rights reserved.

import math