File size: 1,044 Bytes
8104ace | 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 26 27 28 29 30 31 32 33 34 35 36 37 | {
"schema_version": 2,
"model_api": 1,
"obs_len": 61,
"action_len": 14,
"robot": {
"model": "microduck",
"hw_rev": 1,
"servos": "xl330",
"control_hz": 50
},
"name": "standup",
"kind": "episodic",
"entry_pose": "on the ground (sitting or face down)",
"description": "Get-up policy (Mjlab-StandUp-Flat-MicroDuck), simulation only: 25,000 iterations (the maker's 15,000 plus a 10,000 extension), 4096 envs, 407 min on one RTX 5090. Stands from sitting and from face down and holds standing; from flat on its back it freezes half-rolled (0 of 2 takes). Not yet tested on a real Microduck.",
"command": {
"encoding": "constant",
"idle": [
0.0,
0.0,
0.0
],
"twist": "unused (zeros)",
"head": "unused (zeros)",
"body": "unused (zeros)"
},
"duration_s": 6.0,
"chain": false,
"training": {
"repo": "pollen-robotics/microduck_rl",
"commit": "53b8971b6",
"branch": "develop",
"dirty": false,
"source_file": "standup-2026-09-18-it25000.onnx"
}
}
|