| # policy_checkpoints — deploy workflow |
| |
| Deployment checkpoints for the ETHRC humanoid live here, synced with the **private** |
| HuggingFace bucket `ETHRC-humanoid/rc-humanoid-locomotion`. Each run is one subfolder |
| holding the deploy contract + weights (`deploy.yaml`, `policy.pt`, `policy.onnx[.data]`). |
| |
| **Nothing in this folder is git-tracked** except the sync scripts and this doc (see |
| `.gitignore`) — the weights and configs live on HF and are pulled on demand, so the repo |
| never bloats and never drifts from the bucket. |
| |
| ## 0. One-time access (per machine) |
| |
| You need to be in the `ETHRC-humanoid` HF org. In the training repo, run: |
| |
| ```bash |
| cd <rc_humanoid_rl_lab> && ./setup_hf.sh |
| ``` |
| |
| It tells you to **ask Darius on Discord** for org access, then stores your token |
| (`~/.hf_token` + `HF_TOKEN` in your shell profile). On a cluster, just set `HF_TOKEN` as a |
| job secret instead. The pull/push scripts here read it automatically. |
| |
| ## 1. Pull the latest checkpoints |
| |
| ```bash |
| ./pull_from_hf.sh |
| ``` |
| |
| Downloads every run folder from the bucket into this directory. |
| |
| ## 2. Deploy in sim2sim |
| |
| The `sim2sim` package drives any pulled checkpoint via `--yaml <RUN_FOLDER>/deploy.yaml`. Use a python |
| with torch + mujoco (the `ethrc-deploy` / `env_isaaclab` env). After |
| `colcon build --packages-select sim2sim deployment`: |
| |
| ```bash |
| # suspended (hang) — bring-up policies (knee/arm/ankle cycle, joint tracking) |
| ros2 run sim2sim sim2sim --yaml "$(pwd)/<RUN_FOLDER>/deploy.yaml" --base hang --view |
|
|
| # ground / soft-release (G1 elastic band) — standing / locomotion policies |
| ros2 run sim2sim sim2sim --yaml "$(pwd)/<RUN_FOLDER>/deploy.yaml" --base release --view |
| ``` |
| |
| Without a built workspace, run the module directly: |
| `PYTHONPATH=<repo>/ros2_ws/src/sim2sim:<repo>/ros2_ws/src/deployment python -m sim2sim.sim2sim --yaml <…>/deploy.yaml --base hang --view` |
| |
| ## 3. Push new checkpoints |
| |
| The primary push is from the training repo right after `play_export.py` |
| (`<rc_humanoid_rl_lab>/upload_deploy_to_hf.sh`). To push checkpoints curated here: |
| |
| ```bash |
| ./push_to_hf.sh |
| ``` |
| |
