{"schema":"locomotion.torque-plot.v1","title":"Largest joint torque (Nm)","unit":"Nm","decimals":1,"span":"union","dt_s":0.02,"definition":"Largest absolute applied joint torque over the 12 joints at each 50 Hz policy step (the actuator torque of the last physics substep, the same sample as torque_rms). Colour is the training engine; dashed lines run in the other engine. 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