{
  "id": "canonical16-v1",
  "title": "Published uniform-chain task, sixteen links",
  "linksMin": 16,
  "linksMax": 16,
  "source": {
    "url": "https://github.com/corbensorenson/cartpole/tree/b84c6413974d5c0831cdf261ce15e58ba65cd3f5",
    "commit": "b84c6413974d5c0831cdf261ce15e58ba65cd3f5"
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    "commandsPerEpisode": 1500,
    "actionHz": 50,
    "uprightAngleRad": 0.15,
    "uprightConsecutiveSteps": 250,
    "railLimitMeters": 3,
    "forceLimitNewtons": 80,
    "calibrationTolerance": 1e-8,
    "integration": {
      "engine": "MuJoCo",
      "engineVersion": "3.3.5",
      "precision": "binary64",
      "integrator": "RK4",
      "timestepSeconds": 0.005,
      "substeps": 4
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    "mechanics": {
      "cartMassKg": 1,
      "totalLinkMassKg": 1,
      "totalChainLengthMeters": 3,
      "capsuleRadiusMeters": 0.025,
      "armature": 0.0005,
      "totalHingeDamping": 0.015,
      "cartDamping": 0.02,
      "frictionLoss": 0
    },
    "reset": {
      "position": "relative [0, pi, 0, ...]",
      "noiseStd": 0.05,
      "cartPositionNoiseStd": 0,
      "rngOrder": "cart position zero-scale draw; joint positions; all velocities; replacement cart velocity"
    },
    "acceptance": {
      "angleConvention": "wrapped cumulative absolute",
      "angleComparison": "strictly-less-than",
      "samples": "post-command only",
      "fullEpisodeRequired": true,
      "stateOverwriteAfterInit": false,
      "liveRetriesAllowed": false,
      "allFiniteRequired": true
    },
    "cohorts": [
      {
        "id": "calibration",
        "stage": "calibration",
        "noise": "exact",
        "required": 1
      },
      {
        "id": "dev20",
        "stage": "development",
        "noise": "noisy",
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      },
      {
        "id": "dev100",
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      {
        "id": "reserved-noisy20",
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        "seedStart": 216000,
        "seedEnd": 216019
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      {
        "id": "reserved-noisy100",
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        "seedEnd": 216199
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        "id": "reserved-exact20",
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        "seedStart": 216200,
        "seedEnd": 216219
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      {
        "id": "video",
        "stage": "video",
        "noise": "noisy",
        "required": 1,
        "seedStart": 216500,
        "seedEnd": 216500
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    ]
  }
}