{
  "_doc": "Final applied terrain configuration AFTER eval-time overrides. Diff vs production cfg shows what apply_eval_overrides changed.",
  "size_m": [
    8.0,
    8.0
  ],
  "border_width_m": 20.0,
  "num_rows": 30,
  "num_cols": 18,
  "horizontal_scale": 0.1,
  "vertical_scale": 0.005,
  "slope_threshold": 0.75,
  "use_cache": false,
  "curriculum": true,
  "max_init_terrain_level": 29,
  "sub_terrains": {
    "pyramid_stairs": {
      "class": "MeshPyramidStairsTerrainCfg",
      "proportion": 0.05555555555555555,
      "step_height_range": [
        0.05,
        0.25
      ],
      "step_width": 0.3,
      "platform_width": 2.0,
      "border_width": 1.0,
      "holes": false
    },
    "pyramid_stairs_inv": {
      "class": "MeshInvertedPyramidStairsTerrainCfg",
      "proportion": 0.16666666666666666,
      "step_height_range": [
        0.05,
        0.25
      ],
      "step_width": 0.3,
      "platform_width": 2.0,
      "border_width": 1.0,
      "holes": false
    },
    "stepping_stones": {
      "class": "HfSteppingStonesTerrainCfg",
      "proportion": 0.16666666666666666,
      "platform_width": 2.0,
      "border_width": 0.0,
      "stone_height_max": 0.01,
      "stone_width_range": [
        1.5,
        1.5
      ],
      "stone_distance_range": [
        0.1,
        0.58
      ],
      "holes_depth": -0.5
    },
    "rail": {
      "class": "MeshRailsTerrainCfg",
      "proportion": 0.1111111111111111,
      "platform_width": 2.0,
      "rail_thickness_range": [
        0.05,
        0.1
      ],
      "rail_height_range": [
        0.05,
        0.4
      ]
    },
    "hurdle_pole": {
      "class": "MeshSquareHurdleTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "hurdle_height_range": [
        0.4,
        0.65
      ],
      "bar_thickness": 0.05,
      "bar_width": 0.05,
      "mode": "crawl"
    },
    "hurdle_board": {
      "class": "MeshSquareHurdleTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "hurdle_height_range": [
        0.4,
        0.65
      ],
      "bar_thickness": 0.2,
      "bar_width": 0.05,
      "mode": "crawl"
    },
    "hurdle_wall": {
      "class": "MeshSquareHurdleTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "hurdle_height_range": [
        0.4,
        0.65
      ],
      "bar_thickness": 0.2,
      "bar_width": 0.3,
      "mode": "crawl"
    },
    "pit": {
      "class": "MeshPitTerrainCfg",
      "proportion": 0.1111111111111111,
      "platform_width": 2.0,
      "pit_depth_range": [
        0.05,
        0.72
      ],
      "double_pit": false
    },
    "boxes": {
      "class": "MeshRandomGridTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "holes": false,
      "grid_width": 0.45,
      "grid_height_range": [
        0.05,
        0.2
      ]
    },
    "random_rough": {
      "class": "HfRandomUniformTerrainCfg",
      "proportion": 0.05555555555555555,
      "border_width": 0.25,
      "noise_range": [
        0.02,
        0.16
      ],
      "noise_step": 0.02
    },
    "hf_pyramid_slope": {
      "class": "HfPyramidSlopedTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "border_width": 0.25,
      "slope_range": [
        0.0,
        0.55
      ]
    },
    "hf_pyramid_slope_inv": {
      "class": "HfInvertedPyramidSlopedTerrainCfg",
      "proportion": 0.05555555555555555,
      "platform_width": 2.0,
      "border_width": 0.25,
      "slope_range": [
        0.0,
        0.55
      ]
    }
  },
  "eval_overrides_applied": {
    "illegal_contact_disabled": true,
    "cap_pit_depth": 0.72,
    "force_single_pit": true,
    "cap_stone_distance": 0.58,
    "zero_obs_noise": false
  },
  "termination_terms_active": [
    "time_out",
    "terrain_out_of_bounds",
    "illegal_contact",
    "bad_orientation_2",
    "reached_goal"
  ],
  "episode_length_s": 20.0,
  "command": {
    "cmd_vx": 1.0,
    "cmd_vx_bidir": true,
    "lin_vel_y": [
      0.0,
      0.0
    ],
    "ang_vel_z": [
      0.0,
      0.0
    ],
    "heading": [
      0.0,
      0.0
    ]
  },
  "success_dist_m": 4.0
}