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r16_deploy/README.md

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+# r16_deploy (H) — deploy candidate: smoothest walker in the r16 series
+
+Trained locally (RTX 5090), report-16. First arm designed for the ROBOT rather than a hypothesis.
+
+| | |
+|---|---|
+| Task | `ETHRC-humanoidv1-walk-r16-deploy-psu-v0` |
+| Branch | `test/SjohnU_remodel_actuators` @ `b0ceaa8` |
+| Checkpoint | `model_9999.pt` (10,000 iters, completed) |
+| Envs / seed | 4096 / 42 |
+| Actions | 26 @ 50 Hz, action_scale 0.25 |
+| Base | `u4_walk_crouch_real` + r16 shared (25% standing, track 1.5→2.2) |
+| Changes | ~65 ms latency + HEJ90 legs **200/10** + upright price (−10) + spawn-tilt DR + `action_rate` −0.3 + `feet_clearance` removed |
+
+## It is the least jittery policy in the series — by design
+
+Measured with `scripts/rsl_rl/measure_gait.py` (1000 steps × 64 envs, spawning upright).
+Jitter — not velocity — is what predicts real-robot chattering; velocity and cadence cannot see it.
+
+| @ 0.5 cmd | fwd vel | steps/s | **leg vel RMS** | action rate | sign-flips/s | lean |
+|---|---|---|---|---|---|---|
+| r16_upright (C) — fastest, DO NOT DEPLOY | 0.406 | 3.37 | 1.697 | 0.126 | 12.5 | 0.7° |
+| r16_latency_g200 — prev. smoothest | 0.342 | 3.48 | 1.170 | 0.093 | 10.6 | 10.8° |
+| **r16_deploy (H)** | 0.369 | 3.48 | **1.023** | **0.074** | **10.4** | 3.0° |
+
+At the **0.8 command** H does **0.588 m/s with ~16.5 cm strides**, still smoother (RMS 1.206) than C
+was at 0.5. Stride comes from commanding velocity, not reward shaping (the gait clock pins cadence
+~3.5 steps/s, so step_len = v/cadence).
+
+## Why this and not the faster r16_upright (C)
+
+C wins every sim metric (0.406 m/s, 0.7° lean) but is the **jitteriest** arm (leg vel RMS 1.697,
++40% vs H) because it trained at **zero latency** — it learned 50 Hz twitch-correction. On hardware
+those corrections arrive ~67 ms late and become oscillation, so C's sim smoothness UNDERSTATES its
+real jitter. H trains with the measured ~65 ms delay, which is why it is smooth AND deploy-faithful.
+Latency is load-bearing, not a tax.
+
+`action_rate −0.3` did NOT strangle H (episode length 973/1000). The `final_phys` sibling that
+suicided was killed by an over-large PHYSICAL-smoothing block (joint_acc ×10, soft_landing ×100),
+not by the action_rate weight.
+
+## Known gaps (fold in before final deploy)
+
+1. **Placeholder ankle 2.0/0.15**, not the real-measured 8/1.5. The `r16_h_ankle` Sky arm tests
+   whether the real ankle can walk at all — the last deploy-critical unknown.
+2. **Velocity-curriculum bug caps forward command at 0.5** (`lin_vel_cmd_levels` clamps to
+   limit_ranges (-1.0, 0.5)). The `r16_h_cmd` arm fixes it to (-0.2, 1.2). H's 0.588 at a 0.8
+   command is extrapolation past its training ceiling.
+3. **No foot-height reward** — `feet_clearance` was removed (documented bug) and not replaced, so
+   `feet_air_time` is the only swing incentive. The `final-*` arms add `feet_swing_height_dense`.
+
+## Files
+
+- `policy.pt`, `policy.onnx` — exported via `scripts/rsl_rl/play_export.py`
+- `deploy.yaml` — gains (legs motor-space ~189.6/9.64 = 200/10 sim), obs/action layout, 50 Hz
+- `model_9999.pt` — raw rsl-rl checkpoint

r16_deploy/deploy.yaml

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+experiment_name: r16_deploy
+task: ETHRC-humanoidv1-walk-r16-deploy-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: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/r16_deploy/model_9999.pt

r16_deploy/model_9999.pt

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r16_deploy/policy.onnx

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