{
  "policy_hz": 50,
  "physics_dt": 0.0001,
  "policy_steps": 1324,
  "planner_calls": 68,
  "executed_joints": "12 leg joints; existing task PD for waist, arms and grippers",
  "planner_reference_hz": 30,
  "planner_interval_s": 0.4,
  "reference_blend_s": 0.16,
  "turn_centering_reference": "artifacts/stage_transport/sequence_065_low/events.json"
}