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rc-humanoid-locomotion

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Sync deploy checkpoints (2026-06-07T08:48:08Z)

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Files changed (5) hide show
  1. .gitattributes +1 -0
  2. ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/deploy.yaml +375 -0
  3. ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.onnx +3 -0
  4. ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.onnx.data +3 -0
  5. ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.pt +3 -0
.gitattributes CHANGED
@@ -35,3 +35,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  *tfevents* filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-standing-v0_standing_stable/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
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  ETHRC-humanoidv1-v0_baseline_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
 
 
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
36
  ETHRC-humanoidv1-standing-v0_standing_stable/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
37
  ETHRC-humanoidv1-v0_baseline_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
38
+ ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/policy.onnx.data filter=lfs diff=lfs merge=lfs -text
ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/deploy.yaml ADDED
@@ -0,0 +1,375 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ experiment_name: ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2
2
+ task: ETHRC-humanoidv1-robust-noforce-v0
3
+ interface: lo
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+ sim2sim: true
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+ msg_type: go
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+ imu_type: base_link
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+ lowcmd_topic: rt/lowcmd
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+ lowstate_topic: rt/lowstate
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+ policy_path: policy.pt
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+ num_actions: 25
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+ action_scale: 0.25
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+ use_default_offset: true
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+ control_dt: 0.02
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+ policy_rate_hz: 50.0
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+ decimation: 4
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+ sim_dt: 0.005
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+ joint_names:
18
+ - waist_upperbody_yaw
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+ - hip_central_abduction
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+ - neck_yaw
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+ - shoulder_flexion_l
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+ - shoulder_flexion_r
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+ - leg_flexion_l
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+ - leg_flexion_r
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+ - shoulder_abduction_l
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+ - shoulder_abduction_r
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+ - leg_abduction_l
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+ - leg_abduction_r
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+ - shoulder_rotation_l
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+ - shoulder_rotation_r
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+ - hip_yaw_l
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+ - hip_yaw_r
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+ - knee_l
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+ - knee_r
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+ - elbow_flexion_l
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+ - elbow_flexion_r
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+ - foot_pitch_l
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+ - foot_pitch_r
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+ - foot_roll_l
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+ - foot_roll_r
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+ - wrist_rotation_l
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+ - wrist_rotation_r
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+ joint2motor_idx:
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+ - 0
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+ - 1
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+ - 2
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+ - 3
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+ - 4
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+ - 5
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+ - 6
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+ - 7
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+ - 10
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+ - 11
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+ - 12
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+ - 15
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+ - 17
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+ - 18
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+ - 19
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+ - 20
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+ - 21
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+ - 22
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+ - 23
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+ - 24
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+ default_angles:
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+ - 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
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+ - 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
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+ - 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
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+ - 0.0
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+ - 0.0
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+ kps:
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+ - 150.0
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+ - 150.0
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+ - 50.0
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+ - 100.0
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+ - 100.0
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+ - 150.0
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+ - 150.0
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+ - 100.0
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+ - 100.0
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+ - 150.0
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+ - 150.0
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+ - 50.0
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+ - 50.0
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+ - 150.0
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+ - 150.0
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+ - 150.0
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+ - 50.0
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+ - 50.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 50.0
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+ - 50.0
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+ kds:
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+ - 3.0
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+ - 3.0
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+ - 1.0
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+ - 2.0
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+ - 2.0
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+ - 3.0
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+ - 3.0
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+ - 2.0
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+ - 2.0
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+ - 3.0
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+ - 3.0
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+ - 1.0
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+ - 1.0
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+ - 3.0
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+ - 3.0
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+ - 3.0
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+ - 3.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ - 1.0
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+ effort_limits:
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 80.0
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+ - 80.0
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+ - 128.0
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+ - 80.0
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+ - 128.0
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+ - 128.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ - 40.0
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+ articulation_joint_names:
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+ - waist_upperbody_yaw
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+ - hip_central_abduction
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+ - neck_yaw
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+ - shoulder_flexion_l
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+ - shoulder_flexion_r
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+ - leg_flexion_l
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+ - leg_flexion_r
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+ - shoulder_abduction_l
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+ - shoulder_abduction_r
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+ - leg_abduction_l
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+ - leg_abduction_r
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+ - shoulder_rotation_l
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+ - shoulder_rotation_r
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+ - hip_yaw_l
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+ - hip_yaw_r
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+ - knee_l
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+ - knee_r
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+ - elbow_flexion_l
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+ - elbow_flexion_r
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+ - foot_pitch_l
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+ - foot_pitch_r
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+ - foot_roll_l
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+ - foot_roll_r
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+ - wrist_rotation_l
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+ - wrist_rotation_r
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+ pd_per_joint:
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+ waist_upperbody_yaw:
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+ kp: 150.0
202
+ kd: 3.0
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+ effort_limit: 128.0
204
+ velocity_limit: 14.65999984741211
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+ hip_central_abduction:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_flexion_l:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_flexion_r:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_abduction_l:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ leg_abduction_r:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ hip_yaw_l:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ hip_yaw_r:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ knee_l:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ knee_r:
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+ kp: 150.0
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+ kd: 3.0
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+ effort_limit: 128.0
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+ velocity_limit: 14.65999984741211
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+ shoulder_flexion_l:
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+ kp: 100.0
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+ kd: 2.0
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+ effort_limit: 80.0
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+ velocity_limit: 18.0
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+ shoulder_flexion_r:
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+ kp: 100.0
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+ kd: 2.0
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+ effort_limit: 80.0
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+ velocity_limit: 18.0
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+ shoulder_abduction_l:
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+ kp: 100.0
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+ kd: 2.0
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+ effort_limit: 80.0
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+ velocity_limit: 18.0
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+ shoulder_abduction_r:
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+ kp: 100.0
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+ kd: 2.0
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+ effort_limit: 80.0
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+ velocity_limit: 18.0
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+ neck_yaw:
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+ kp: 50.0
272
+ kd: 1.0
273
+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ shoulder_rotation_l:
276
+ kp: 50.0
277
+ kd: 1.0
278
+ effort_limit: 40.0
279
+ velocity_limit: 20.0
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+ shoulder_rotation_r:
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+ kp: 50.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ elbow_flexion_l:
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+ kp: 50.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ elbow_flexion_r:
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+ kp: 50.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ wrist_rotation_l:
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+ kp: 50.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ wrist_rotation_r:
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+ kp: 50.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 20.0
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+ foot_pitch_l:
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+ kp: 40.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 15.0
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+ foot_pitch_r:
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+ kp: 40.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 15.0
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+ foot_roll_l:
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+ kp: 40.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 15.0
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+ foot_roll_r:
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+ kp: 40.0
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+ kd: 1.0
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+ effort_limit: 40.0
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+ velocity_limit: 15.0
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+ obs_history_length: 5
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+ obs_single_frame_dim: 84
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+ obs_total_dim: 420
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+ obs_layout:
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+ - name: base_ang_vel
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+ start: 0
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+ end: 15
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 0.2
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+ - name: projected_gravity
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+ start: 15
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+ end: 30
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 1.0
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+ - name: velocity_commands
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+ start: 30
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+ end: 45
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+ base_dim: 3
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+ block_dim: 15
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+ scale: 1.0
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+ - name: joint_pos_rel
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+ start: 45
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+ end: 170
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+ base_dim: 25
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+ block_dim: 125
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+ scale: 1.0
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+ - name: joint_vel_rel
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+ start: 170
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+ end: 295
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+ base_dim: 25
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+ block_dim: 125
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+ scale: 0.05
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+ - name: last_action
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+ start: 295
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+ end: 420
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+ base_dim: 25
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+ block_dim: 125
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+ scale: 1.0
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+ command_ranges:
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+ lin_vel_x:
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+ - -0.1
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+ - 0.1
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+ lin_vel_y:
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+ - 0.1
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+ - 0.8
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+ ang_vel_z:
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+ - -0.1
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+ - 0.1
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+ checkpoint: /home/katari/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/ETHRC-humanoidv1-robust-noforce-v0_robust_noforce_v2/model_9999.pt
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