{
  "repository": "pollen-robotics/microduck-simulator",
  "source": "https://huggingface.co/spaces/pollen-robotics/microduck-simulator",
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  "modifications": [
    "physics.xml removes visual geoms; retains upstream mass/joints/collision meshes/actuators; adds estimated backyard obstacles and 5 ms step",
    "No robot firmware or Menlo SDK command routing for Microduck",
    "microduck-lite.glb: display mesh quadric decimation; source meshes unchanged for physics",
    "shared-world.xml combines existing Asimov yard and rigid props with 10 namespaced original duck articulations, shared collision assets, and 1 ms physics; explicit contype/conaffinity enables cross-robot contacts",
    "microduck-physics.js adapts 61-observation / 14-action policy loop with per-duck history; joint targets run at 50 Hz in one shared MjData",
    "instanced display renderer follows live shared-world joint states"
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  "license": "App code Apache-2.0; 3D meshes CC BY-NC-SA-4.0; upstream policy weights license not separately stated in snapshot",
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    "license": "CC BY-NC-SA-4.0"
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    "generator": "backyard-review/scripts/build-shared-microducks.py"
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}