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r16_upright/README.md

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+# r16_upright — upright-priced crouch walker (BEST WALKER TO DATE)
+
+Trained locally (RTX 5090), report-16 one-change-at-a-time series.
+
+| | |
+|---|---|
+| Task | `ETHRC-humanoidv1-walk-r16-upright-psu-v0` |
+| Branch | `test/SjohnU_remodel_actuators` @ `8f9f058` |
+| Checkpoint | `model_9999.pt` (10,000 iters, completed) |
+| Envs / seed | 4096 / 42 |
+| rsl-rl | 5.0.1 |
+| Actions | 26 @ 50 Hz |
+| Base | `u4_walk_crouch_real` + r16 shared layer (25% standing envs, track weight 1.5 → 2.2) |
+| Changes | `flat_orientation_l2` −2.0 → **−10.0** + **±5.7° fwd/back spawn-tilt DR** |
+
+## Result: best walker measured, on every axis
+
+Measured with `scripts/rsl_rl/measure_gait.py` (1000 steps × 64 envs, spawning upright).
+**Physical units — not reward-term values**, which are not comparable across configs with
+different weight/std (the report-15 comparison of 0.778 vs 1.838 was invalid for that reason).
+
+| policy | cmd | fwd vel | cadence | **step length** | lean |
+|---|---|---|---|---|---|
+| **r16_upright @ 0.8 cmd** | 0.8 | **0.634 m/s** | 3.30/s | **19.2 cm** | **1.5°** |
+| crouch_nogait | 0.5 | 0.572 | 8.14/s | 7.0 cm | 5.3° |
+| **r16_upright @ 0.5 cmd** | 0.5 | 0.406 | 3.37/s | 12.0 cm | 0.7° |
+| u4_walk_crouch_real (22k) | 0.5 | 0.397 | 3.48/s | 11.4 cm | 9.9° |
+| r16_control (identical, 10k) | 0.5 | **0.026** | 0.24/s | — | — |
+| u4_walk_bigstep_v1 | 0.5 | 0.009 | 1.71/s | 0.5 cm | 20.9° |
+
+**Run it at the 0.8 m/s command.** The gait clock pins cadence at ~3.3 steps/s, so
+`step_length = velocity / cadence` means commanding faster buys stride for free: 19.2 cm at
+0.8 vs 12.0 cm at 0.5, same checkpoint, no retraining. It is then faster than `crouch_nogait`
+(0.634 vs 0.572) with **2.7× the stride** — nogait only wins on m/s by mincing at 8.14 steps/s.
+
+**It beats its own control 15×** (0.406 vs 0.026 at 10k, identical config otherwise) and never
+falls (train episode length 975–1000 / 1000 vs control's 438).
+
+## Why it works is NOT the lean
+
+The lean is **not causal** and this model card should not be read as evidence that it is:
+`latency` walks at 13.3° BACK, this walks at 0.7°, `bigstep` fails at 20.9°. Lean predicts
+nothing. Pricing the lean does move it (9.9° → 0.7°, exactly as designed) and bought **+2%**
+velocity over crouch_real.
+
+What almost certainly does the work is the **spawn-tilt DR**, via the same mechanism as latency:
+the r16 control at 10k sits in a **stand-and-micro-correct local optimum**, and anything that
+makes standing untenable forces a real gait — latency (can't twitch-correct at 50 Hz), spawn tilt
+(must recover every reset), or simply 22k iters. Anything that *enriches* standing kills it
+(`footlift`: 0.001 m/s; slower gait clock: 0.004 m/s).
+
+**CAVEAT: this arm bundles TWO changes** (upright price + spawn tilt) at the user's request, so
+which half does the work is unresolved. Split it before building on it.
+
+## Plateau
+
+0.415 m/s at model_5600 vs 0.406 at model_9999 — it got slightly *worse* over the last 4400
+iters. Cap future runs of this lineage at ~6k.
+
+## Files
+
+- `policy.pt`, `policy.onnx` — exported via `scripts/rsl_rl/play_export.py`
+- `deploy.yaml` — deploy config (obs/action layout, gains, 50 Hz), introspected from the live env
+- `model_9999.pt` — raw rsl-rl checkpoint (re-export / resume)

r16_upright/deploy.yaml

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+experiment_name: r16_upright
+task: ETHRC-humanoidv1-walk-r16-upright-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:
+- 172.35147094726562
+- 172.35147094726562
+- 35.557220458984375
+- 69.74275207519531
+- 69.74275207519531
+- 172.35147094726562
+- 172.35147094726562
+- 35.557220458984375
+- 69.74275207519531
+- 69.74275207519531
+- 172.35147094726562
+- 172.35147094726562
+- 35.557220458984375
+- 35.557220458984375
+- 172.35147094726562
+- 172.35147094726562
+- 35.557220458984375
+- 35.557220458984375
+- 172.35147094726562
+- 172.35147094726562
+- 35.557220458984375
+- 35.557220458984375
+- 36.63602066040039
+- 36.63602066040039
+- 36.63602066040039
+- 36.63602066040039
+kds:
+- 5.072013854980469
+- 5.072013854980469
+- 0.8349924683570862
+- 1.7447954416275024
+- 1.7447954416275024
+- 5.072013854980469
+- 5.072013854980469
+- 0.8349924683570862
+- 1.7447954416275024
+- 1.7447954416275024
+- 5.072013854980469
+- 5.072013854980469
+- 0.8349924683570862
+- 0.8349924683570862
+- 5.072013854980469
+- 5.072013854980469
+- 0.8349924683570862
+- 0.8349924683570862
+- 5.072013854980469
+- 5.072013854980469
+- 0.8349924683570862
+- 0.8349924683570862
+- 0.9277009963989258
+- 0.9277009963989258
+- 0.9277009963989258
+- 0.9277009963989258
+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: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_central_rotation:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_l:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_r:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_l:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_r:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_l:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_r:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_l:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_r:
+    kp: 172.35147094726562
+    kd: 5.072013854980469
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  shoulder_flexion_l:
+    kp: 69.74275207519531
+    kd: 1.7447954416275024
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_flexion_r:
+    kp: 69.74275207519531
+    kd: 1.7447954416275024
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_l:
+    kp: 69.74275207519531
+    kd: 1.7447954416275024
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_r:
+    kp: 69.74275207519531
+    kd: 1.7447954416275024
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  neck_yaw:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  neck_pitch:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_l:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_r:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_l:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_r:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_l:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_r:
+    kp: 35.557220458984375
+    kd: 0.8349924683570862
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  foot_pitch_l:
+    kp: 36.63602066040039
+    kd: 0.9277009963989258
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_pitch_r:
+    kp: 36.63602066040039
+    kd: 0.9277009963989258
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_l:
+    kp: 36.63602066040039
+    kd: 0.9277009963989258
+    effort_limit: 60.0
+    velocity_limit: 50.0
+  foot_roll_r:
+    kp: 36.63602066040039
+    kd: 0.9277009963989258
+    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_upright/model_9999.pt

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