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ETHRC-humanoid
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rc-humanoid-locomotion

ONNX
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1 Parent(s): cf20ceb

Sync deploy checkpoints (2026-06-29T07:17:32Z)

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Files changed (5) hide show
  1. .gitattributes +1 -0
  2. sym-add/deploy.yaml +327 -0
  3. sym-add/policy.onnx +3 -0
  4. sym-add/policy.onnx.data +3 -0
  5. sym-add/policy.pt +3 -0
.gitattributes CHANGED
@@ -38,3 +38,4 @@ ETHRC-humanoidv1-v0_baseline_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -
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  ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v3/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-tracking-knee-v0_knee_urdf4_v1/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
 
 
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  ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v3/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-tracking-knee-v0_knee_urdf4_v1/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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+ sym-add/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
sym-add/deploy.yaml ADDED
@@ -0,0 +1,327 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment_name: sym-add
2
+ task: ETHRC-humanoidv1-symadd-psu-v0
3
+ interface: lo
4
+ sim2sim: true
5
+ msg_type: go
6
+ imu_type: base_link
7
+ lowcmd_topic: rt/lowcmd
8
+ lowstate_topic: rt/lowstate
9
+ policy_path: policy.pt
10
+ num_actions: 16
11
+ action_scale: 0.25
12
+ use_default_offset: true
13
+ control_dt: 0.02
14
+ policy_rate_hz: 50.0
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+ decimation: 4
16
+ sim_dt: 0.005
17
+ joint_names:
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+ - waist_upperbody_yaw
19
+ - hip_central_rotation
20
+ - neck_yaw
21
+ - leg_flexion_l
22
+ - leg_flexion_r
23
+ - neck_pitch
24
+ - leg_abduction_l
25
+ - leg_abduction_r
26
+ - hip_yaw_l
27
+ - hip_yaw_r
28
+ - knee_l
29
+ - knee_r
30
+ - foot_pitch_l
31
+ - foot_pitch_r
32
+ - foot_roll_l
33
+ - foot_roll_r
34
+ joint2motor_idx:
35
+ - 0
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+ - 1
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+ - 2
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+ - 3
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+ - 4
40
+ - 5
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+ - 6
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+ - 7
43
+ - 8
44
+ - 9
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+ - 10
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+ - 11
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+ - 12
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+ - 13
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+ - 14
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+ - 15
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+ default_angles:
52
+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
57
+ - 0.0
58
+ - 0.0
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+ - 0.0
60
+ - 0.0
61
+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
65
+ - 0.0
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+ - 0.0
67
+ - 0.0
68
+ kps:
69
+ - 150.0
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+ - 150.0
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+ - 50.0
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+ - 150.0
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+ - 150.0
74
+ - 50.0
75
+ - 150.0
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+ - 150.0
77
+ - 150.0
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+ - 150.0
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+ - 150.0
80
+ - 150.0
81
+ - 40.0
82
+ - 40.0
83
+ - 40.0
84
+ - 40.0
85
+ kds:
86
+ - 3.0
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+ - 3.0
88
+ - 1.0
89
+ - 3.0
90
+ - 3.0
91
+ - 1.0
92
+ - 3.0
93
+ - 3.0
94
+ - 3.0
95
+ - 3.0
96
+ - 3.0
97
+ - 3.0
98
+ - 1.0
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+ - 1.0
100
+ - 1.0
101
+ - 1.0
102
+ effort_limits:
103
+ - 128.0
104
+ - 128.0
105
+ - 40.0
106
+ - 128.0
107
+ - 128.0
108
+ - 40.0
109
+ - 128.0
110
+ - 128.0
111
+ - 128.0
112
+ - 128.0
113
+ - 128.0
114
+ - 128.0
115
+ - 40.0
116
+ - 40.0
117
+ - 40.0
118
+ - 40.0
119
+ articulation_joint_names:
120
+ - waist_upperbody_yaw
121
+ - hip_central_rotation
122
+ - neck_yaw
123
+ - shoulder_flexion_l
124
+ - shoulder_flexion_r
125
+ - leg_flexion_l
126
+ - leg_flexion_r
127
+ - neck_pitch
128
+ - shoulder_abduction_l
129
+ - shoulder_abduction_r
130
+ - leg_abduction_l
131
+ - leg_abduction_r
132
+ - shoulder_rotation_l
133
+ - shoulder_rotation_r
134
+ - hip_yaw_l
135
+ - hip_yaw_r
136
+ - elbow_flexion_l
137
+ - elbow_flexion_r
138
+ - knee_l
139
+ - knee_r
140
+ - wrist_rotation_l
141
+ - wrist_rotation_r
142
+ - foot_pitch_l
143
+ - foot_pitch_r
144
+ - foot_roll_l
145
+ - foot_roll_r
146
+ pd_per_joint:
147
+ waist_upperbody_yaw:
148
+ kp: 150.0
149
+ kd: 3.0
150
+ effort_limit: 128.0
151
+ velocity_limit: 14.65999984741211
152
+ hip_central_rotation:
153
+ kp: 150.0
154
+ kd: 3.0
155
+ effort_limit: 128.0
156
+ velocity_limit: 14.65999984741211
157
+ leg_flexion_l:
158
+ kp: 150.0
159
+ kd: 3.0
160
+ effort_limit: 128.0
161
+ velocity_limit: 14.65999984741211
162
+ leg_flexion_r:
163
+ kp: 150.0
164
+ kd: 3.0
165
+ effort_limit: 128.0
166
+ velocity_limit: 14.65999984741211
167
+ leg_abduction_l:
168
+ kp: 150.0
169
+ kd: 3.0
170
+ effort_limit: 128.0
171
+ velocity_limit: 14.65999984741211
172
+ leg_abduction_r:
173
+ kp: 150.0
174
+ kd: 3.0
175
+ effort_limit: 128.0
176
+ velocity_limit: 14.65999984741211
177
+ hip_yaw_l:
178
+ kp: 150.0
179
+ kd: 3.0
180
+ effort_limit: 128.0
181
+ velocity_limit: 14.65999984741211
182
+ hip_yaw_r:
183
+ kp: 150.0
184
+ kd: 3.0
185
+ effort_limit: 128.0
186
+ velocity_limit: 14.65999984741211
187
+ knee_l:
188
+ kp: 150.0
189
+ kd: 3.0
190
+ effort_limit: 128.0
191
+ velocity_limit: 14.65999984741211
192
+ knee_r:
193
+ kp: 150.0
194
+ kd: 3.0
195
+ effort_limit: 128.0
196
+ velocity_limit: 14.65999984741211
197
+ shoulder_flexion_l:
198
+ kp: 100.0
199
+ kd: 2.0
200
+ effort_limit: 80.0
201
+ velocity_limit: 18.0
202
+ shoulder_flexion_r:
203
+ kp: 100.0
204
+ kd: 2.0
205
+ effort_limit: 80.0
206
+ velocity_limit: 18.0
207
+ shoulder_abduction_l:
208
+ kp: 100.0
209
+ kd: 2.0
210
+ effort_limit: 80.0
211
+ velocity_limit: 18.0
212
+ shoulder_abduction_r:
213
+ kp: 100.0
214
+ kd: 2.0
215
+ effort_limit: 80.0
216
+ velocity_limit: 18.0
217
+ neck_yaw:
218
+ kp: 50.0
219
+ kd: 1.0
220
+ effort_limit: 40.0
221
+ velocity_limit: 20.0
222
+ neck_pitch:
223
+ kp: 50.0
224
+ kd: 1.0
225
+ effort_limit: 40.0
226
+ velocity_limit: 20.0
227
+ shoulder_rotation_l:
228
+ kp: 50.0
229
+ kd: 1.0
230
+ effort_limit: 40.0
231
+ velocity_limit: 20.0
232
+ shoulder_rotation_r:
233
+ kp: 50.0
234
+ kd: 1.0
235
+ effort_limit: 40.0
236
+ velocity_limit: 20.0
237
+ elbow_flexion_l:
238
+ kp: 50.0
239
+ kd: 1.0
240
+ effort_limit: 40.0
241
+ velocity_limit: 20.0
242
+ elbow_flexion_r:
243
+ kp: 50.0
244
+ kd: 1.0
245
+ effort_limit: 40.0
246
+ velocity_limit: 20.0
247
+ wrist_rotation_l:
248
+ kp: 50.0
249
+ kd: 1.0
250
+ effort_limit: 40.0
251
+ velocity_limit: 20.0
252
+ wrist_rotation_r:
253
+ kp: 50.0
254
+ kd: 1.0
255
+ effort_limit: 40.0
256
+ velocity_limit: 20.0
257
+ foot_pitch_l:
258
+ kp: 40.0
259
+ kd: 1.0
260
+ effort_limit: 40.0
261
+ velocity_limit: 15.0
262
+ foot_pitch_r:
263
+ kp: 40.0
264
+ kd: 1.0
265
+ effort_limit: 40.0
266
+ velocity_limit: 15.0
267
+ foot_roll_l:
268
+ kp: 40.0
269
+ kd: 1.0
270
+ effort_limit: 40.0
271
+ velocity_limit: 15.0
272
+ foot_roll_r:
273
+ kp: 40.0
274
+ kd: 1.0
275
+ effort_limit: 40.0
276
+ velocity_limit: 15.0
277
+ obs_history_length: 5
278
+ obs_single_frame_dim: 77
279
+ obs_total_dim: 385
280
+ obs_layout:
281
+ - name: base_ang_vel
282
+ start: 0
283
+ end: 15
284
+ base_dim: 3
285
+ block_dim: 15
286
+ scale: 0.2
287
+ - name: projected_gravity
288
+ start: 15
289
+ end: 30
290
+ base_dim: 3
291
+ block_dim: 15
292
+ scale: 1.0
293
+ - name: velocity_commands
294
+ start: 30
295
+ end: 45
296
+ base_dim: 3
297
+ block_dim: 15
298
+ scale: 1.0
299
+ - name: joint_pos_rel
300
+ start: 45
301
+ end: 175
302
+ base_dim: 26
303
+ block_dim: 130
304
+ scale: 1.0
305
+ - name: joint_vel_rel
306
+ start: 175
307
+ end: 305
308
+ base_dim: 26
309
+ block_dim: 130
310
+ scale: 0.05
311
+ - name: last_action
312
+ start: 305
313
+ end: 385
314
+ base_dim: 16
315
+ block_dim: 80
316
+ scale: 1.0
317
+ command_ranges:
318
+ lin_vel_x:
319
+ - -0.05
320
+ - 0.05
321
+ lin_vel_y:
322
+ - 0.3
323
+ - 0.5
324
+ ang_vel_z:
325
+ - -0.05
326
+ - 0.05
327
+ checkpoint: /home/katari/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/sym-add/model_7999.pt
sym-add/policy.onnx ADDED
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+ size 11630
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+ size 1455616
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