Add r16_h_ankle (report-16 sky slate, measured gait sweep 0.5/0.8/1.2)

r16_h_ankle/README.md

@@ -0,0 +1,56 @@
+# r16_h_ankle — Report 16 SKY SLATE
+
+H-ANKLE — the REAL measured ankle (rs_kp 8.0/1.5). WALKS: 0.540 m/s @ cmd 1.2. Resolves the deploy-critical ankle unknown positively.
+
+| | |
+|---|---|
+| Branch | `test/SjohnU_remodel_actuators` |
+| Checkpoint | `model_9999.pt` (10,000 iters, completed) |
+| Envs / seed | 4096 / 42 |
+| rsl-rl | 5.0.1 (native actor/critic state_dict) |
+| wandb | `ijog4us3` (project rc_humanoid_rl) |
+| Hardware | AWS us-east-2, 1x L40S (g6e.xlarge) |
+
+## Report-16 SKY SLATE — measured across the command sweep (physical units)
+
+All arms branch off H (`r16_deploy`) + exactly one change, 10k iters, 4096 envs, seed 42,
+branch `test/SjohnU_remodel_actuators`. Measured with `scripts/rsl_rl/measure_gait.py`
+(1000 steps x 64 envs) at three forward commands. **Physical m/s, not reward-term tvel** —
+tvel lied repeatedly (e.g. footlift scored tvel 1.19 at 0.001 m/s).
+
+| arm | change vs H | @0.5 | @0.8 | @1.2 | lean@1.2 | walks? |
+|---|---|---|---|---|---|---|
+| **`r16_final_act`** | action smoothing (action_rate -0.3) | 0.407 | 0.697 | **0.977** | 0.2° | ✅ fastest |
+| `r16_h2_noar` | action_rate -0.3 -> -0.12 | 0.388 | 0.644 | **0.888** | 1.6° | ✅ |
+| `r16_h_ankle` | ankle rs_kp 2.0/0.15 -> 8.0/1.5 (REAL ankle) | 0.222 | 0.382 | **0.540** | 3.4° | ✅ |
+| `r16_h_cmd` | limit_ranges lin_vel_y (-1.0,0.5)->(-0.2,1.2) | 0.090 | -0.035 | -0.630 | — | ❌ |
+| `r16_final_phys` | action_rate -0.12 + 100x soft_landing/10x joint_acc | — | — | — | — | 🔴 suicidal |
+
+### What the slate establishes
+
+1. **The command cap WAS the speed ceiling.** Every prior walker measured ~0.4 m/s because
+   `limit_ranges` capped the forward command at 0.5. Given a higher command, the good walkers
+   scale cleanly: `final_act` 0.41 -> 0.70 -> 0.98 m/s. `final_act` @1.2 (0.977 m/s, 0.2 deg lean)
+   is the FASTEST walker of the whole campaign, beating `upright` (0.634) and `crouch_nogait` (0.572).
+
+2. **But widening the command range DURING training (h_cmd) backfired.** `h_cmd` opened the range
+   to (-0.2, 1.2) and never learned to walk forward — 0.090 m/s at 0.5, and it goes BACKWARD
+   (-0.63 m/s) when commanded +1.2. Read together with (1): the right move is to train with the
+   0.5 cap and command higher AT DEPLOY, not to widen the training range.
+
+3. **The real measured ankle walks (h_ankle).** Every prior walker used a PLACEHOLDER ankle;
+   the only policy with the real ankle was bigstep, which couldn't walk -- a confound that sat
+   between sim and hardware. `h_ankle` resolves it: the real rs_kp 8.0/1.5 ankle walks
+   (0.222/0.382/0.540 m/s), at ~55% of `final_act`'s speed. The deploy story holds.
+
+4. **action_rate -0.3 vs -0.12 is not decisive; the PHYSICAL-penalty overshoot is fatal.**
+   `final_act` (-0.3) and `h2_noar` (-0.12) both walk well, with -0.3 marginally faster. The
+   exploration-tax audit predicted -0.12 would clearly win; measured, it did not. What IS fatal
+   is `final_phys`: keeping action_rate at -0.12 but raising soft_landing 100x (-1e-4 -> -0.01)
+   and joint_acc 10x made LIVING net-negative, so the policy optimized by terminating early
+   (reward rose -24.7 -> -18.2 as episode length fell 46 -> 22). A textbook suicidal policy.
+
+## Files
+- `policy.pt`, `policy.onnx` — exported via `scripts/rsl_rl/play_export.py`
+- `deploy.yaml` — deploy config (obs/action layout, gains, 50 Hz)
+- `model_9999.pt` — raw rsl-rl checkpoint

r16_h_ankle/deploy.yaml

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+experiment_name: r16_h_ankle
+task: ETHRC-humanoidv1-walk-r16-h-ankle-psu-v0
+interface: lo
+sim2sim: true
+msg_type: go
+imu_type: base_link
+lowcmd_topic: rt/lowcmd
+lowstate_topic: rt/lowstate
+policy_path: policy.pt
+num_actions: 26
+action_scale: 0.25
+use_default_offset: true
+control_dt: 0.02
+policy_rate_hz: 50.0
+decimation: 4
+sim_dt: 0.005
+joint_names:
+- waist_upperbody_yaw
+- hip_central_rotation
+- neck_yaw
+- shoulder_flexion_l
+- shoulder_flexion_r
+- leg_flexion_l
+- leg_flexion_r
+- neck_pitch
+- shoulder_abduction_l
+- shoulder_abduction_r
+- leg_abduction_l
+- leg_abduction_r
+- shoulder_rotation_l
+- shoulder_rotation_r
+- hip_yaw_l
+- hip_yaw_r
+- elbow_flexion_l
+- elbow_flexion_r
+- knee_l
+- knee_r
+- wrist_rotation_l
+- wrist_rotation_r
+- foot_pitch_l
+- foot_pitch_r
+- foot_roll_l
+- foot_roll_r
+joint2motor_idx:
+- 0
+- 1
+- 2
+- 3
+- 4
+- 5
+- 6
+- 7
+- 8
+- 9
+- 10
+- 11
+- 12
+- 13
+- 14
+- 15
+- 16
+- 17
+- 18
+- 19
+- 20
+- 21
+- 22
+- 23
+- 24
+- 25
+default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.18000000715255737
+- -0.18000000715255737
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- -0.3499999940395355
+- -0.3499999940395355
+- 0.0
+- 0.0
+- 0.18000000715255737
+- 0.18000000715255737
+- 0.0
+- 0.0
+kps:
+- 189.63851928710938
+- 189.63851928710938
+- 40.2313117980957
+- 68.69254302978516
+- 68.69254302978516
+- 189.63851928710938
+- 189.63851928710938
+- 40.2313117980957
+- 68.69254302978516
+- 68.69254302978516
+- 189.63851928710938
+- 189.63851928710938
+- 40.2313117980957
+- 40.2313117980957
+- 189.63851928710938
+- 189.63851928710938
+- 40.2313117980957
+- 40.2313117980957
+- 189.63851928710938
+- 189.63851928710938
+- 40.2313117980957
+- 40.2313117980957
+- 35.159873962402344
+- 35.159873962402344
+- 35.159873962402344
+- 35.159873962402344
+kds:
+- 9.641944885253906
+- 9.641944885253906
+- 0.9752398133277893
+- 1.6067781448364258
+- 1.6067781448364258
+- 9.641944885253906
+- 9.641944885253906
+- 0.9752398133277893
+- 1.6067781448364258
+- 1.6067781448364258
+- 9.641944885253906
+- 9.641944885253906
+- 0.9752398133277893
+- 0.9752398133277893
+- 9.641944885253906
+- 9.641944885253906
+- 0.9752398133277893
+- 0.9752398133277893
+- 9.641944885253906
+- 9.641944885253906
+- 0.9752398133277893
+- 0.9752398133277893
+- 1.054377555847168
+- 1.054377555847168
+- 1.054377555847168
+- 1.054377555847168
+effort_limits:
+- 128.0
+- 128.0
+- 40.0
+- 80.0
+- 80.0
+- 128.0
+- 128.0
+- 40.0
+- 80.0
+- 80.0
+- 128.0
+- 128.0
+- 40.0
+- 40.0
+- 128.0
+- 128.0
+- 40.0
+- 40.0
+- 128.0
+- 128.0
+- 40.0
+- 40.0
+- 60.0
+- 60.0
+- 60.0
+- 60.0
+articulation_joint_names:
+- waist_upperbody_yaw
+- hip_central_rotation
+- neck_yaw
+- shoulder_flexion_l
+- shoulder_flexion_r
+- leg_flexion_l
+- leg_flexion_r
+- neck_pitch
+- shoulder_abduction_l
+- shoulder_abduction_r
+- leg_abduction_l
+- leg_abduction_r
+- shoulder_rotation_l
+- shoulder_rotation_r
+- hip_yaw_l
+- hip_yaw_r
+- elbow_flexion_l
+- elbow_flexion_r
+- knee_l
+- knee_r
+- wrist_rotation_l
+- wrist_rotation_r
+- foot_pitch_l
+- foot_pitch_r
+- foot_roll_l
+- foot_roll_r
+articulation_default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.18000000715255737
+- -0.18000000715255737
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- -0.3499999940395355
+- -0.3499999940395355
+- 0.0
+- 0.0
+- 0.18000000715255737
+- 0.18000000715255737
+- 0.0
+- 0.0
+pd_per_joint:
+  waist_upperbody_yaw:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_central_rotation:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_l:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_r:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_l:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_r:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_l:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_r:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_l:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_r:
+    kp: 189.63851928710938
+    kd: 9.641944885253906
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  shoulder_flexion_l:
+    kp: 68.69254302978516
+    kd: 1.6067781448364258
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_flexion_r:
+    kp: 68.69254302978516
+    kd: 1.6067781448364258
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_l:
+    kp: 68.69254302978516
+    kd: 1.6067781448364258
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_r:
+    kp: 68.69254302978516
+    kd: 1.6067781448364258
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  neck_yaw:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  neck_pitch:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_l:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_r:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_l:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_r:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_l:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_r:
+    kp: 40.2313117980957
+    kd: 0.9752398133277893
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  foot_pitch_l:
+    kp: 35.159873962402344
+    kd: 1.054377555847168
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_pitch_r:
+    kp: 35.159873962402344
+    kd: 1.054377555847168
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_l:
+    kp: 35.159873962402344
+    kd: 1.054377555847168
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_r:
+    kp: 35.159873962402344
+    kd: 1.054377555847168
+    effort_limit: 60.0
+    velocity_limit: 50.0
+obs_history_length: 5
+obs_single_frame_dim: 89
+obs_total_dim: 445
+obs_layout:
+- name: base_ang_vel
+  start: 0
+  end: 15
+  base_dim: 3
+  block_dim: 15
+  scale: 0.2
+- name: projected_gravity
+  start: 15
+  end: 30
+  base_dim: 3
+  block_dim: 15
+  scale: 1.0
+- name: velocity_commands
+  start: 30
+  end: 45
+  base_dim: 3
+  block_dim: 15
+  scale: 1.0
+  params:
+    command_name: base_velocity
+- name: joint_pos_rel
+  start: 45
+  end: 175
+  base_dim: 26
+  block_dim: 130
+  scale: 1.0
+- name: joint_vel_rel
+  start: 175
+  end: 305
+  base_dim: 26
+  block_dim: 130
+  scale: 0.05
+- name: last_action
+  start: 305
+  end: 435
+  base_dim: 26
+  block_dim: 130
+  scale: 1.0
+- name: gait_phase
+  start: 435
+  end: 445
+  base_dim: 2
+  block_dim: 10
+  scale: 1.0
+  params:
+    period: 0.6
+    command_name: base_velocity
+command_ranges:
+  lin_vel_x:
+  - -0.1
+  - 0.1
+  lin_vel_y:
+  - 0.1
+  - 0.8
+  ang_vel_z:
+  - -0.1
+  - 0.1
+checkpoint: /root/rc/logs/rsl_rl/humanoid_v1_locomotion/r16_h_ankle/model_9999.pt

r16_h_ankle/model_9999.pt

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r16_h_ankle/policy.onnx

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r16_h_ankle/policy.pt

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