{
  "robot": "spot",
  "task": "Isaac-Velocity-Flat-Spot-v0",
  "variant": "fast",
  "physics_dt": 0.002,
  "decimation": 10,
  "action_scale": 0.75,
  "joint_names": [
    "fl_hx",
    "fr_hx",
    "hl_hx",
    "hr_hx",
    "fl_hy",
    "fr_hy",
    "hl_hy",
    "hr_hy",
    "fl_kn",
    "fr_kn",
    "hl_kn",
    "hr_kn"
  ],
  "default_joint_pos": [
    0.10000000149011612,
    -0.10000000149011612,
    0.10000000149011612,
    -0.10000000149011612,
    0.8999999761581421,
    0.8999999761581421,
    1.100000023841858,
    1.100000023841858,
    -1.5,
    -1.5,
    -1.5,
    -1.5
  ],
  "policy_obs_terms": [
    "base_lin_vel",
    "base_ang_vel",
    "projected_gravity",
    "velocity_commands",
    "joint_pos",
    "joint_vel",
    "actions"
  ]
}