Add cycle p200 deploy bundle (test)

ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1/HARDWARE_GAINS_TODO.md

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+# ⚠ HARDWARE GAIN CHANGE REQUIRED before sim2real
+
+This policy was trained at **chosen sim gains** (legs/knee **200/10**, shoulder 100/2). These train cleanly
+(knee_cycle ≈ 0.998, no wobble, stable) and the legs gain is **close to the current hardware** (240/15), so
+the hardware change is small. A position-target policy only transfers if the real drives' PD == the sim PD
+that trained it — so **set the device-config gains to match** `deploy.yaml` (`kps`/`kds`) using the
+documented `÷1000` convention (device JVPT = sim gain × 1000):
+
+| Group (motors) | sim kp/kd (deploy.yaml) | set device `JVPT_P / JVPT_D` | current device | actuated? |
+|---|---|---|---|---|
+| HEJ90 legs/waist incl. **knee** (`maxonHEJ90*`) | 200 / 10 | **200000 / 10000** | 240000 / 15000 | **yes (knee)** |
+| HEJ70 **shoulders** (`maxonHEJ70A*`) | 100 / 2 | **100000 / 2000** | 15000 / 1000 | **yes (shoulder_flexion)** |
+| HEJ50 arms/neck (`maxonHEJ50*`) | 50 / 1 | 50000 / 1000 | 8500 / 3000 | held at 0 |
+| robstride ankles | 40 / 1 (foot joint) | via inverse ankle-linkage Jacobian | MIT 12 / 0.8 | held at 0 |
+
+**Edit:** `ETHRC-Humanoid-Controls/ros2_ws/src/ethercat_device_configurator/ethercat_device_configurator/example_config/device_configurations/*.yaml`
+(`JVPT_P_gain` / `JVPT_D_gain` per device, referenced by `setup.yaml`).
+
+**Most critical:** HEJ90 (knee) and HEJ70 (shoulder) — the actuated joints. Held joints (HEJ50, ankles) keep
+the non-action joints at 0; match them too for full fidelity but they're lower priority.
+
+**Why not the real hardware gains directly?** kp≈240 (HEJ90) made the cyclic knee unstable to train
+(from-scratch wrong-direction local optimum; warm-start peaked then PPO-collapsed). kp=200 is below that
+threshold — clean and stable — so we train at 200/10 and nudge the hardware down from 240→200.
+
+**Then validate**: the `÷1000` mapping is a documented heuristic — confirm by comparing real joint tracking
+against the sim2sim baseline (Part B/C). If they diverge, recalibrate the conversion.
+
+— generated for `urdf4_cycle_p200` (legs 200/10 cyclic bring-up policy).

ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1/deploy.yaml

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+experiment_name: ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1
+task: ETHRC-humanoidv1-suspended-cycle-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: 4
+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:
+- shoulder_flexion_l
+- shoulder_flexion_r
+- knee_l
+- knee_r
+joint2motor_idx:
+- 0
+- 1
+- 2
+- 3
+default_angles:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+kps:
+- 100.0
+- 100.0
+- 200.0
+- 200.0
+kds:
+- 2.0
+- 2.0
+- 10.0
+- 10.0
+effort_limits:
+- 80.0
+- 80.0
+- 128.0
+- 128.0
+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
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+pd_per_joint:
+  waist_upperbody_yaw:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_central_rotation:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_l:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_flexion_r:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_l:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  leg_abduction_r:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_l:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  hip_yaw_r:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_l:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  knee_r:
+    kp: 200.0
+    kd: 10.0
+    effort_limit: 128.0
+    velocity_limit: 14.65999984741211
+  shoulder_flexion_l:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_flexion_r:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_l:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  shoulder_abduction_r:
+    kp: 100.0
+    kd: 2.0
+    effort_limit: 80.0
+    velocity_limit: 18.0
+  neck_yaw:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  neck_pitch:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  shoulder_rotation_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  elbow_flexion_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_l:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  wrist_rotation_r:
+    kp: 50.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 20.0
+  foot_pitch_l:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_pitch_r:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_roll_l:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+  foot_roll_r:
+    kp: 40.0
+    kd: 1.0
+    effort_limit: 40.0
+    velocity_limit: 15.0
+obs_history_length: 5
+obs_single_frame_dim: 58
+obs_total_dim: 290
+obs_layout:
+- name: gait_phase
+  start: 0
+  end: 10
+  base_dim: 2
+  block_dim: 10
+  scale: 1.0
+  params:
+    period: 2.0
+- name: joint_pos_rel
+  start: 10
+  end: 140
+  base_dim: 26
+  block_dim: 130
+  scale: 1.0
+- name: joint_vel_rel
+  start: 140
+  end: 270
+  base_dim: 26
+  block_dim: 130
+  scale: 0.05
+- name: last_action
+  start: 270
+  end: 290
+  base_dim: 4
+  block_dim: 20
+  scale: 1.0
+command_ranges: null
+checkpoint: /home/sjohn/Documents/project/rc_humanoid_rl_lab/logs/rsl_rl/humanoid_v1_locomotion/ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1/model_998.pt

ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1/policy.onnx

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+size 1256075

ETHRC-humanoidv1-suspended-cycle-v0_urdf4_cycle_p200_v1/policy.pt

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