{
  "schema": "eldric.worldmodel.render-manifest/v1",
  "model": "policy_mz07_nslot.nsl",
  "render_kind": "controller",
  "io": { "form": "dense", "input_dim": 18,
          "input_layout": ["q1..q6","dq1..dq6","target1..target6"],
          "output_dim": 6, "output": "joint_torques" },
  "note": "control policy, not a self-contained rollout; visualize by closing the loop with a robot-arm dynamics model",
  "labels": { "title": "MZ07 6-axis arm control policy" }
}