feat: official base move kick-right (Pollen Robotics' kick (right foot), retrained)

README.md

@@ -0,0 +1,70 @@
+---
+tags:
+- microduck-academy-policy
+- microduck-policy
+- academy
+- official
+- family:ballkick
+- kind:episodic
+- tier:1
+- microduck
+- robotics
+- reinforcement-learning
+- onnx
+license: apache-2.0
+library_name: onnx
+---
+
+# Kick (right foot)
+
+<video src="video.mp4" poster="poster.jpg" width="480" muted loop autoplay playsinline controls></video>
+
+![Kick (right foot) (poster)](poster.jpg)
+
+
+An **official** Microduck move: [Pollen Robotics](https://huggingface.co/pollen-robotics)' **kick (right foot)**,
+retrained from scratch by [Microduck Academy](https://huggingface.co/spaces/tfrere/microduck) with the upstream recipe
+as-is (task `Mjlab-BallKick-Flat-MicroDuck` of [pollen-robotics/microduck_rl](https://github.com/pollen-robotics/microduck_rl) at `2b25a48`,
+3999 iterations, 4096 envs, no reward edit), so that it carries the
+`base/model.pt` checkpoint the Academy needs to **remix** it. The policy Pollen ships is
+[`ball_kick_right.onnx`](https://huggingface.co/pollen-robotics/microduck-policies/blob/main/ball_kick_right.onnx).
+
+Pollen Robotics' kick: a 0.5 s right-foot kick at a ball placed in front of the foot, then back to the walk.
+
+## Fidelity check (this move vs Pollen's policy, same scene, same command, take `kick`)
+
+| number | this move | Pollen's `ball_kick_right.onnx` |
+|---|---|---|
+| final_upright | True | True |
+| max_tilt | 0.261 | 0.261 |
+| base_z_mean | 0.1149 | 0.1141 |
+| base_z_min | 0.1106 | 0.1125 |
+| ball_travel_m | 0.338 | 0.326 |
+| ball_travel_x_m | 0.338 | 0.326 |
+| ball_travel_y_m | -0.017 | 0.018 |
+| ball_peak_speed_m_s | 0.477 | 0.503 |
+| upright_at_0_5s | True | True |
+| tilt_at_0_5s | 0.027 | 0.008 |
+
+Recorded with `space/payload/render/rollout.py` on the upstream robot MJCF (`spikes/base_moves/fidelity.py`).
+
+## Run it on a robot
+
+```sh
+sudo robotctl policy add kick-right-foot tfrere/microduck-move-base-kick-right
+robotctl robot do kick-right-foot
+```
+
+## Files
+
+`policy.onnx` (play it, normalizer baked in), `base/model.pt` + `base/agent.yaml` + `base/env.yaml` (the rsl_rl
+checkpoint and configs: **remix** = fine-tune from it), `rollouts/0.traj` (trajectory.v1 showcase take, with the
+commands), `video.mp4` + `poster.jpg` (the card clip), `manifest.json`
+(schema 2 + `academy` block: origin, source task and policy, training facts, fidelity numbers), `fidelity.json`,
+`train.json`.
+
+## Credits and license
+
+The task, the reward design, the robot model and the training recipe are Pollen Robotics' work
+([pollen-robotics/microduck_rl](https://github.com/pollen-robotics/microduck_rl), Apache-2.0). This repo republishes a retrained policy of
+that recipe under the same Apache-2.0 license, with the checkpoint, so the Academy's users can start from it.

base/agent.yaml

@@ -0,0 +1,67 @@
+seed: 42
+num_steps_per_env: 24
+max_iterations: 4000
+obs_groups:
+  actor: !!python/tuple
+  - actor
+  critic: !!python/tuple
+  - critic
+save_interval: 250
+experiment_name: ball_kick_right
+run_name: ball_kick_right
+logger: tensorboard
+wandb_project: mjlab_microduck
+wandb_tags: !!python/tuple []
+resume: false
+load_run: .*
+load_checkpoint: model_.*.pt
+clip_actions: null
+upload_model: true
+class_name: OnPolicyRunner
+actor:
+  hidden_dims: !!python/tuple
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: true
+  cnn_cfg: null
+  distribution_cfg:
+    class_name: GaussianDistribution
+    init_std: 1.0
+    std_type: scalar
+  rnn_type: null
+  rnn_hidden_dim: 256
+  rnn_num_layers: 1
+  class_name: MLPModel
+critic:
+  hidden_dims: !!python/tuple
+  - 512
+  - 256
+  - 128
+  activation: elu
+  obs_normalization: true
+  cnn_cfg: null
+  distribution_cfg: null
+  rnn_type: null
+  rnn_hidden_dim: 256
+  rnn_num_layers: 1
+  class_name: MLPModel
+algorithm:
+  num_learning_epochs: 5
+  num_mini_batches: 4
+  learning_rate: 0.001
+  schedule: adaptive
+  gamma: 0.99
+  lam: 0.95
+  entropy_coef: 0.01
+  desired_kl: 0.01
+  max_grad_norm: 1.0
+  value_loss_coef: 1.0
+  use_clipped_value_loss: true
+  clip_param: 0.2
+  normalize_advantage_per_mini_batch: false
+  optimizer: adam
+  share_cnn_encoders: false
+  class_name: PPO
+  symmetry_cfg: null

base/env.yaml

@@ -0,0 +1,2019 @@
+decimation: 4
+scene:
+  num_envs: 4096
+  env_spacing: 2.0
+  terrain:
+    init_state:
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      rot: !!python/tuple
+      - 1.0
+      - 0.0
+      - 0.0
+      - 0.0
+      lin_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      ang_vel: !!python/tuple
+      - 0.0
+      - 0.0
+      - 0.0
+      joint_pos:
+        .*: 0.0
+      joint_vel:
+        .*: 0.0
+    spec_fn: !!python/name:mjlab.entity.entity.%3Clambda%3E ''
+    articulation: null
+    sort_actuators: false
+    lights: !!python/tuple
+    - name: sun
+      body: world
+      mode: fixed
+      target: null
+      type: directional
+      castshadow: true
+      pos: !!python/tuple
+      - 0.0
+      - 0.0
+      - 1.5
+      dir: !!python/tuple
+      - 0.0
+      - 0.0
+      - -1.0
+      cutoff: 45.0
+      exponent: 10.0
+    cameras: !!python/tuple []
+    textures: !!python/tuple
+    - name: groundplane
+      type: 2d
+      builtin: checker
+      rgb1: !!python/tuple
+      - 0.2
+      - 0.3
+      - 0.4
+      rgb2: !!python/tuple
+      - 0.1
+      - 0.2
+      - 0.3
+      width: 300
+      height: 300
+      mark: edge
+      markrgb: !!python/tuple
+      - 0.8
+      - 0.8
+      - 0.8
+    materials: !!python/tuple
+    - name: groundplane
+      rgba: !!python/tuple
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      texuniform: true
+      texrepeat: !!python/tuple
+      - 4.0
+      - 4.0
+      reflectance: 0.2
+      texture: groundplane
+      geom_names_expr: !!python/tuple
+      - terrain$
+    collisions: !!python/tuple []
+    terrain_type: plane
+    terrain_generator: null
+    env_spacing: 2.0
+    max_init_terrain_level: 5
+    num_envs: 4096
+  entities:
+    robot:
+      init_state:
+        pos: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+        lin_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        ang_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        joint_pos:
+          .*hip_yaw.*: 0.0
+          .*left_hip_roll.*: -0.0873
+          .*right_hip_roll.*: 0.0873
+          .*left_hip_pitch.*: -0.4579
+          .*right_hip_pitch.*: 0.4579
+          .*left_knee.*: -0.0049
+          .*right_knee.*: 0.0049
+          .*left_ankle.*: 0.453
+          .*right_ankle.*: -0.453
+          .*neck_pitch.*: 0.3491
+          .*head_pitch.*: 0.3491
+          .*head_yaw.*: 0.0
+          .*head_roll.*: 0.0
+        joint_vel:
+          .*: 0.0
+      spec_fn: !!python/name:mjlab_microduck.robot.microduck_constants.get_standup_spec ''
+      articulation:
+        actuators: !!python/tuple
+        - target_names_expr: !!python/tuple
+          - ^(?!passive_).*
+          transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+          - joint
+          armature: null
+          frictionloss: null
+          viscous_damping: null
+          delay_min_lag: 3
+          delay_max_lag: 6
+          delay_hold_prob: 0.0
+          delay_update_period: 0
+          delay_per_env_phase: true
+          motor_name: xl330
+          model: m6
+          json_path: null
+          vin: null
+          kp_fw: 200.0
+          vin_range: !!python/tuple
+          - 6.5
+          - 8.2
+          vin_drop_gain_range: !!python/tuple
+          - 0.0
+          - 0.2
+          vin_min: 6.0
+          stiff_frictionloss: true
+        soft_joint_pos_limit_factor: 0.9
+      sort_actuators: false
+      lights: !!python/tuple []
+      cameras: !!python/tuple []
+      textures: !!python/tuple []
+      materials: !!python/tuple []
+      collisions: !!python/tuple
+      - geom_names_expr:
+        - .*_collision
+        contype: 1
+        conaffinity: 1
+        condim:
+          ^(left|right)_foot_collision$: 3
+          .*_collision: 1
+        priority:
+          ^(left|right)_foot_collision$: 1
+        friction:
+          ^(left|right)_foot_collision$: !!python/tuple
+          - 1.0
+        solref: null
+        solimp: null
+        margin: null
+        gap: null
+        solmix: null
+        disable_other_geoms: true
+    ball:
+      init_state:
+        pos: !!python/tuple
+        - 0.3
+        - 0.0
+        - 0.035
+        rot: !!python/tuple
+        - 1.0
+        - 0.0
+        - 0.0
+        - 0.0
+        lin_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        ang_vel: !!python/tuple
+        - 0.0
+        - 0.0
+        - 0.0
+        joint_pos:
+          .*: 0.0
+        joint_vel:
+          .*: 0.0
+      spec_fn: !!python/name:mjlab_microduck.robot.microduck_constants.get_ball_spec ''
+      articulation: null
+      sort_actuators: false
+      lights: !!python/tuple []
+      cameras: !!python/tuple []
+      textures: !!python/tuple []
+      materials: !!python/tuple []
+      collisions: !!python/tuple []
+  sensors: !!python/tuple
+  - name: feet_ground_contact
+    primary:
+      mode: geom
+      pattern: ^(left_foot_collision|right_foot_collision)$
+      entity: robot
+      exclude: !!python/tuple []
+    secondary:
+      mode: body
+      pattern: terrain
+      entity: null
+      exclude: !!python/tuple []
+    fields: !!python/tuple
+    - found
+    - force
+    reduce: netforce
+    num_slots: 1
+    secondary_policy: first
+    track_air_time: true
+    global_frame: false
+    history_length: 0
+    debug: false
+  - name: support_foot_ground_contact
+    primary:
+      mode: geom
+      pattern: ^left_foot_collision$
+      entity: robot
+      exclude: !!python/tuple []
+    secondary:
+      mode: body
+      pattern: terrain
+      entity: null
+      exclude: !!python/tuple []
+    fields: !!python/tuple
+    - found
+    reduce: netforce
+    num_slots: 1
+    secondary_policy: first
+    track_air_time: false
+    global_frame: false
+    history_length: 0
+    debug: false
+  - name: self_collision
+    primary:
+      mode: subtree
+      pattern: trunk_base
+      entity: robot
+      exclude: !!python/tuple []
+    secondary:
+      mode: subtree
+      pattern: trunk_base
+      entity: robot
+      exclude: !!python/tuple []
+    fields: !!python/tuple
+    - found
+    reduce: none
+    num_slots: 1
+    secondary_policy: first
+    track_air_time: false
+    global_frame: false
+    history_length: 0
+    debug: false
+  extent: 2.0
+  spec_fn: null
+observations:
+  actor:
+    terms:
+      base_ang_vel:
+        func: !!python/name:mjlab_microduck.tasks.mdp.base_ang_vel_imu_misaligned ''
+        params:
+          max_angle_deg: 6.0
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.03
+          n_max: 0.03
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 1
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 64
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      projected_gravity:
+        func: !!python/name:mjlab_microduck.tasks.mdp.projected_gravity_imu_misaligned ''
+        params:
+          max_angle_deg: 6.0
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.01
+          n_max: 0.01
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 1
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 64
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: &id002 !!python/name:mjlab.envs.mdp.observations.joint_pos_rel ''
+        params:
+          asset_cfg:
+            name: robot
+            joint_names: !!python/tuple
+            - ^(?!passive_).*
+            joint_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            body_names: null
+            body_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            geom_names: null
+            geom_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            site_names: null
+            site_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            actuator_names: null
+            actuator_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            tendon_names: null
+            tendon_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            camera_names: null
+            camera_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            light_names: null
+            light_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            material_names: null
+            material_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            pair_names: null
+            pair_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            preserve_order: false
+          biased: true
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.001
+          n_max: 0.001
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: &id003 !!python/name:mjlab.envs.mdp.observations.joint_vel_rel ''
+        params:
+          asset_cfg:
+            name: robot
+            joint_names: !!python/tuple
+            - ^(?!passive_).*
+            joint_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            body_names: null
+            body_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            geom_names: null
+            geom_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            site_names: null
+            site_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            actuator_names: null
+            actuator_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            tendon_names: null
+            tendon_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            camera_names: null
+            camera_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            light_names: null
+            light_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            material_names: null
+            material_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            pair_names: null
+            pair_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            preserve_order: false
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.25
+          n_max: 0.25
+        clip: null
+        scale: null
+        delay_min_lag: 1
+        delay_max_lag: 1
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: &id004 !!python/name:mjlab.envs.mdp.observations.last_action ''
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      command:
+        func: &id005 !!python/name:mjlab.envs.mdp.observations.generated_commands ''
+        params:
+          command_name: twist
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      head_command:
+        func: &id001 !!python/name:mjlab_microduck.tasks.mdp.zero_command_padding ''
+        params:
+          dim: 4
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_command:
+        func: *id001
+        params:
+          dim: 6
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: true
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+  critic:
+    terms:
+      base_lin_vel:
+        func: !!python/name:mjlab.envs.mdp.observations.base_lin_vel ''
+        params: {}
+        noise: null
+        clip: null
+        scale: 1.0
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      base_ang_vel:
+        func: !!python/name:mjlab.envs.mdp.observations.builtin_sensor ''
+        params:
+          sensor_name: robot/imu_ang_vel
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.2
+          n_max: 0.2
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      projected_gravity:
+        func: !!python/name:mjlab.envs.mdp.observations.projected_gravity ''
+        params: {}
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.05
+          n_max: 0.05
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_pos:
+        func: *id002
+        params:
+          asset_cfg:
+            name: robot
+            joint_names: !!python/tuple
+            - ^(?!passive_).*
+            joint_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            body_names: null
+            body_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            geom_names: null
+            geom_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            site_names: null
+            site_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            actuator_names: null
+            actuator_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            tendon_names: null
+            tendon_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            camera_names: null
+            camera_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            light_names: null
+            light_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            material_names: null
+            material_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            pair_names: null
+            pair_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            preserve_order: false
+          biased: false
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.001
+          n_max: 0.001
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      joint_vel:
+        func: *id003
+        params:
+          asset_cfg:
+            name: robot
+            joint_names: !!python/tuple
+            - ^(?!passive_).*
+            joint_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            body_names: null
+            body_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            geom_names: null
+            geom_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            site_names: null
+            site_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            actuator_names: null
+            actuator_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            tendon_names: null
+            tendon_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            camera_names: null
+            camera_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            light_names: null
+            light_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            material_names: null
+            material_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            pair_names: null
+            pair_ids: !!python/object/apply:builtins.slice
+            - null
+            - null
+            - null
+            preserve_order: false
+        noise:
+          operation: add
+          _tensor_cache: {}
+          n_min: -0.25
+          n_max: 0.25
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      actions:
+        func: *id004
+        params: {}
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      command:
+        func: *id005
+        params:
+          command_name: twist
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      foot_air_time:
+        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_air_time ''
+        params:
+          sensor_name: feet_ground_contact
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      foot_contact:
+        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact ''
+        params:
+          sensor_name: feet_ground_contact
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      foot_contact_forces:
+        func: !!python/name:mjlab.tasks.velocity.mdp.observations.foot_contact_forces ''
+        params:
+          sensor_name: feet_ground_contact
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      head_command:
+        func: *id001
+        params:
+          dim: 4
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      body_command:
+        func: *id001
+        params:
+          dim: 6
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      ball_position:
+        func: !!python/name:mjlab_microduck.tasks.mdp.ball_pos_in_base ''
+        params:
+          asset_name: ball
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+      ball_velocity:
+        func: !!python/name:mjlab_microduck.tasks.mdp.ball_vel_in_base ''
+        params:
+          asset_name: ball
+        noise: null
+        clip: null
+        scale: null
+        delay_min_lag: 0
+        delay_max_lag: 0
+        delay_per_env: true
+        delay_hold_prob: 0.0
+        delay_update_period: 0
+        delay_per_env_phase: true
+        history_length: 0
+        flatten_history_dim: true
+    concatenate_terms: true
+    concatenate_dim: -1
+    enable_corruption: false
+    history_length: null
+    flatten_history_dim: true
+    nan_policy: disabled
+    nan_check_per_term: true
+actions:
+  joint_pos:
+    entity_name: robot
+    clip: null
+    transmission_type: !!python/object/apply:mjlab.actuator.actuator.TransmissionType
+    - joint
+    actuator_names: !!python/tuple
+    - .*
+    scale: 1.0
+    offset: 0.0
+    preserve_order: false
+    use_default_offset: true
+events:
+  reset_base:
+    func: !!python/name:mjlab.envs.mdp.events.reset_root_state_uniform ''
+    params:
+      pose_range:
+        x: !!python/tuple
+        - -0.5
+        - 0.5
+        y: !!python/tuple
+        - -0.5
+        - 0.5
+        z: !!python/tuple
+        - 0.01
+        - 0.05
+        yaw: !!python/tuple
+        - -3.14
+        - 3.14
+      velocity_range: {}
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  reset_robot_joints:
+    func: !!python/name:mjlab.envs.mdp.events.reset_joints_by_offset ''
+    params:
+      position_range: !!python/tuple
+      - -0.05
+      - 0.05
+      velocity_range: !!python/tuple
+      - 0.0
+      - 0.0
+      asset_cfg:
+        name: robot
+        joint_names: !!python/tuple
+        - .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  push_robot:
+    func: !!python/name:mjlab.envs.mdp.events.push_by_setting_velocity ''
+    params:
+      velocity_range:
+        x: !!python/tuple
+        - -0.3
+        - 0.3
+        y: !!python/tuple
+        - -0.3
+        - 0.3
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    mode: interval
+    interval_range_s: !!python/tuple
+    - 3.0
+    - 6.0
+    is_global_time: false
+    min_step_count_between_reset: 0
+  foot_friction:
+    func: !!python/name:mjlab.envs.mdp.dr.geom.geom_friction ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: !!python/tuple
+        - left_foot_collision
+        - right_foot_collision
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: abs
+      ranges: !!python/tuple
+      - 0.7
+      - 1.3
+      shared_random: true
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  encoder_bias:
+    func: !!python/name:mjlab.envs.mdp.dr.joint.encoder_bias ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      bias_range: !!python/tuple
+      - -0.015
+      - 0.015
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  base_com:
+    func: &id006 !!python/name:mjlab.envs.mdp.dr.body.body_com_offset ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple []
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: add
+      ranges:
+        0: !!python/tuple
+        - -0.025
+        - 0.025
+        1: !!python/tuple
+        - -0.025
+        - 0.025
+        2: !!python/tuple
+        - -0.03
+        - 0.03
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  expand_bam_friction_fields:
+    func: !!python/name:mjlab_microduck.tasks.mdp.expand_bam_friction_fields ''
+    params: {}
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  reset_action_history:
+    func: !!python/name:mjlab_microduck.tasks.mdp.reset_action_history ''
+    params: {}
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  set_ground_state:
+    func: !!python/name:mjlab_microduck.tasks.mdp.set_random_ground_state ''
+    params:
+      face_down_prob: 0.0
+      face_up_prob: 0.0
+      sitting_prob: 0.0
+      standing_prob: 1.0
+      sitting_tilt_max: 0.08726646259971647
+      standing_z_min: 0.11
+      standing_z_max: 0.12
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  reset_ball:
+    func: !!python/name:mjlab_microduck.tasks.mdp.reset_ball_in_front_of_foot ''
+    params:
+      offset: !!python/tuple
+      - 0.09
+      - -0.042
+      noise_xy: 0.015
+      ball_radius: 0.035
+      asset_name: ball
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_com:
+    func: *id006
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - trunk_base
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: add
+      ranges: !!python/tuple
+      - -0.003
+      - 0.003
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_head_com:
+    func: *id006
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - neck
+        - neck_pitch
+        - yaw_roll_motion
+        - (bottom_head_shell|jaw_soft)
+        - bearing_roll
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: add
+      ranges: !!python/tuple
+      - -0.003
+      - 0.003
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_armature:
+    func: !!python/name:mjlab.envs.mdp.dr.joint.joint_armature ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: !!python/tuple
+        - .*
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      operation: scale
+      ranges: !!python/tuple
+      - 0.9
+      - 1.1
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_mass_inertia:
+    func: !!python/name:mjlab.envs.mdp.dr.body.pseudo_inertia ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - trunk_base
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      alpha_range: !!python/tuple
+      - -0.02564664719377529
+      - 0.024395082084716024
+    mode: startup
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+  randomize_joint_friction:
+    func: !!python/name:mjlab_microduck.tasks.mdp.randomize_bam_friction ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+      scale_range: !!python/tuple
+      - 0.9
+      - 1.1
+    mode: reset
+    interval_range_s: null
+    is_global_time: false
+    min_step_count_between_reset: 0
+seed: 42
+sim:
+  nconmax: 50
+  njmax: 1500
+  ls_parallel: true
+  contact_sensor_maxmatch: 64
+  mujoco:
+    timestep: 0.005
+    integrator: implicitfast
+    impratio: 1.0
+    cone: pyramidal
+    jacobian: auto
+    solver: newton
+    iterations: 10
+    tolerance: 1.0e-08
+    ls_iterations: 20
+    ls_tolerance: 0.01
+    ccd_iterations: 50
+    gravity: !!python/tuple
+    - 0.0
+    - 0.0
+    - -9.81
+    disableflags: !!python/tuple []
+    enableflags: !!python/tuple []
+  nan_guard:
+    enabled: false
+    buffer_size: 100
+    output_dir: /tmp/mjlab/nan_dumps
+    max_envs_to_dump: 5
+viewer:
+  lookat: !!python/tuple
+  - 0.0
+  - 0.0
+  - 0.0
+  distance: 3.0
+  fovy: null
+  elevation: -5.0
+  azimuth: 90.0
+  origin_type: !!python/object/apply:mjlab.viewer.viewer_config.OriginType
+  - 4
+  entity_name: robot
+  body_name: trunk_base
+  env_idx: 0
+  max_extra_envs: 2
+  enable_reflections: true
+  enable_shadows: true
+  height: 240
+  width: 320
+episode_length_s: 5.0
+rewards:
+  upright:
+    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.upright ''
+    params:
+      std: 0.22360679774997896
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - trunk_base
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: 2.0
+  body_ang_vel:
+    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.body_angular_velocity_penalty ''
+    params:
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - trunk_base
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -0.05
+  angular_momentum:
+    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.angular_momentum_penalty ''
+    params:
+      sensor_name: robot/root_angmom
+    weight: -0.02
+  dof_pos_limits:
+    func: !!python/name:mjlab.envs.mdp.rewards.joint_pos_limits ''
+    params: {}
+    weight: -1.0
+  action_rate_l2:
+    func: !!python/name:mjlab.envs.mdp.rewards.action_rate_l2 ''
+    params: {}
+    weight: -0.1
+  ball_forward_velocity:
+    func: !!python/name:mjlab_microduck.tasks.mdp.ball_forward_velocity ''
+    params:
+      asset_name: ball
+      max_speed: 1.0
+    weight: 12.0
+  ball_speed_overshoot:
+    func: !!python/name:mjlab_microduck.tasks.mdp.ball_speed_overshoot_penalty ''
+    params:
+      asset_name: ball
+      target_speed: 1.0
+    weight: -4.0
+  support_foot_grounded:
+    func: !!python/name:mjlab_microduck.tasks.mdp.single_foot_grounded_reward ''
+    params:
+      sensor_name: support_foot_ground_contact
+    weight: 2.0
+  pose_stand_legs:
+    func: &id007 !!python/name:mjlab_microduck.tasks.mdp.pose_target_match ''
+    params:
+      std: 0.5
+      joint_indices:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      target_overrides: null
+    weight: 2.0
+  pose_stand_neck:
+    func: *id007
+    params:
+      std: 0.3
+      joint_indices:
+      - 5
+      - 6
+      - 7
+      - 8
+      target_overrides: null
+    weight: 1.0
+  height_stand:
+    func: !!python/name:mjlab_microduck.tasks.mdp.height_target_gaussian ''
+    params:
+      std: 0.04
+      target_height: 0.115
+      asset_cfg:
+        name: robot
+        joint_names: null
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: !!python/tuple
+        - trunk_base
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        geom_names: null
+        geom_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        site_names: null
+        site_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        actuator_names: null
+        actuator_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        tendon_names: null
+        tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        camera_names: null
+        camera_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        light_names: null
+        light_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        material_names: null
+        material_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        pair_names: null
+        pair_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: 1.0
+  self_collisions:
+    func: !!python/name:mjlab.tasks.velocity.mdp.rewards.self_collision_cost ''
+    params:
+      sensor_name: self_collision
+    weight: -1.0
+terminations:
+  time_out:
+    func: !!python/name:mjlab.envs.mdp.terminations.time_out ''
+    params: {}
+    time_out: true
+  fell_over:
+    func: !!python/name:mjlab.envs.mdp.terminations.bad_orientation ''
+    params:
+      limit_angle: 1.2217304763960306
+    time_out: false
+  out_of_terrain_bounds:
+    func: !!python/name:mjlab.tasks.velocity.mdp.terminations.out_of_terrain_bounds ''
+    params: {}
+    time_out: true
+  nan_state:
+    func: !!python/name:mjlab_microduck.tasks.mdp.robot_state_is_nan ''
+    params: {}
+    time_out: false
+commands:
+  twist:
+    resampling_time_range: !!python/tuple
+    - 5.0
+    - 10.0
+    debug_vis: false
+    entity_name: robot
+    heading_command: false
+    heading_control_stiffness: 0.5
+    rel_standing_envs: 0.0
+    rel_heading_envs: 0.0
+    rel_world_envs: 0.0
+    rel_forward_envs: 0.2
+    init_velocity_prob: 0.0
+    ranges:
+      lin_vel_x: !!python/tuple
+      - -0.01
+      - 0.01
+      lin_vel_y: !!python/tuple
+      - -0.01
+      - 0.01
+      ang_vel_z: !!python/tuple
+      - -0.05
+      - 0.05
+      heading: null
+    viz:
+      z_offset: 0.2
+      scale: 0.5
+    rel_turn_in_place_envs: 0.0
+curriculum:
+  action_rate_weight:
+    func: !!python/name:mjlab_microduck.tasks.mdp.reward_weight ''
+    params:
+      reward_name: action_rate_l2
+      weight_stages:
+      - step: 0
+        weight: -0.1
+      - step: 12000
+        weight: -0.2
+      - step: 18000
+        weight: -0.4
+      - step: 24000
+        weight: -0.6
+      - step: 30000
+        weight: -0.8
+      - step: 36000
+        weight: -1.0
+  com_range:
+    func: &id008 !!python/name:mjlab_microduck.tasks.mdp.com_range_curriculum ''
+    params:
+      event_name: randomize_com
+      range_stages:
+      - step: 0
+        range: 0.003
+      - step: 12000
+        range: 0.005
+      - step: 24000
+        range: 0.01
+      - step: 36000
+        range: 0.015
+  head_com_range:
+    func: *id008
+    params:
+      event_name: randomize_head_com
+      range_stages:
+      - step: 0
+        range: 0.003
+      - step: 12000
+        range: 0.005
+      - step: 24000
+        range: 0.01
+  push_magnitude:
+    func: !!python/name:mjlab_microduck.tasks.mdp.push_curriculum ''
+    params:
+      event_name: push_robot
+      push_stages:
+      - step: 0
+        velocity_range:
+          x: !!python/tuple
+          - 0.0
+          - 0.0
+          y: !!python/tuple
+          - 0.0
+          - 0.0
+      - step: 12000
+        velocity_range:
+          x: !!python/tuple
+          - -0.08
+          - 0.08
+          y: !!python/tuple
+          - -0.08
+          - 0.08
+      - step: 24000
+        velocity_range:
+          x: !!python/tuple
+          - -0.3
+          - 0.3
+          y: !!python/tuple
+          - -0.3
+          - 0.3
+metrics:
+  mean_action_acc:
+    func: !!python/name:mjlab.envs.mdp.metrics.mean_action_acc ''
+    params: {}
+    per_substep: false
+    reduce: mean
+recorders: {}
+is_finite_horizon: false
+auto_reset: true
+scale_rewards_by_dt: true

base/model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0134e16c4cb94d1cdf998d6a14c15814a019db12e20badf70d42c52af3340a98
+size 4868213

clip.json

@@ -0,0 +1,22 @@
+{
+ "video": "video.mp4",
+ "poster": "poster.jpg",
+ "fps": 25,
+ "seconds": 3.0,
+ "width": 640,
+ "height": 480,
+ "n_frames": 75,
+ "bytes": 75952,
+ "poster_bytes": 14812,
+ "boot_s": 1.56,
+ "render_s": 4.29,
+ "ms_per_frame": 57.3,
+ "encode_s": 0.18,
+ "codec": "h264",
+ "renderer": "chromium-webgl",
+ "t0": 0,
+ "trail": false,
+ "source_duration": 2.98,
+ "page_errors": [],
+ "poster_t": 0.3
+}

fidelity.json

@@ -0,0 +1,33 @@
+{
+ "takes": {
+  "kick": {
+   "trained": {
+    "final_upright": true,
+    "max_tilt": 0.261,
+    "base_z_mean": 0.1149,
+    "base_z_min": 0.1106,
+    "ball_travel_m": 0.338,
+    "ball_travel_x_m": 0.338,
+    "ball_travel_y_m": -0.017,
+    "ball_peak_speed_m_s": 0.477,
+    "upright_at_0_5s": true,
+    "tilt_at_0_5s": 0.027
+   },
+   "pollen": {
+    "final_upright": true,
+    "max_tilt": 0.261,
+    "base_z_mean": 0.1141,
+    "base_z_min": 0.1125,
+    "ball_travel_m": 0.326,
+    "ball_travel_x_m": 0.326,
+    "ball_travel_y_m": 0.018,
+    "ball_peak_speed_m_s": 0.503,
+    "upright_at_0_5s": true,
+    "tilt_at_0_5s": 0.008
+   }
+  }
+ },
+ "pollen_policy": "pollen-robotics/microduck-policies#ball_kick_right.onnx",
+ "recorder": "space/payload/render/rollout.py",
+ "scenes": "the upstream robot MJCF at timestep 0.005 (spikes/base_moves/fidelity.py)"
+}

manifest.json

@@ -0,0 +1,164 @@
+{
+ "schema_version": 2,
+ "model_api": 1,
+ "obs_len": 61,
+ "action_len": 14,
+ "robot": {
+  "model": "microduck",
+  "hw_rev": 1,
+  "servos": "xl330",
+  "control_hz": 50
+ },
+ "name": "Kick (right foot)",
+ "kind": "episodic",
+ "entry_pose": "standing",
+ "description": "Pollen Robotics' kick: a 0.5 s right-foot kick at a ball placed in front of the foot, then back to the walk.",
+ "command": {
+  "encoding": "constant",
+  "idle": [
+   0.0,
+   0.0,
+   0.0
+  ],
+  "twist": "unused (zeros)",
+  "head": "unused (zeros)",
+  "body": "unused (zeros)"
+ },
+ "duration_s": 0.5,
+ "chain": false,
+ "training": {
+  "repo": "pollen-robotics/microduck_rl",
+  "commit": "2b25a48",
+  "task": "Mjlab-BallKick-Flat-MicroDuck",
+  "iterations": 3999,
+  "num_envs": 4096,
+  "source_file": "policy.onnx",
+  "trained_by": "microduck-academy (spikes/base_moves)"
+ },
+ "slot": "kick_right",
+ "judge_score": null,
+ "vlm": null,
+ "score": null,
+ "battery": null,
+ "rollouts": [
+  {
+   "k": 0,
+   "primary": true,
+   "take": "showcase",
+   "duration_s": 3.0,
+   "chain": [
+    [
+     0.5,
+     "tfrere/microduck-move-base-walk"
+    ]
+   ],
+   "scene": "scenes/scene_ball.xml"
+  }
+ ],
+ "checkpoints": [],
+ "video": "video.mp4",
+ "poster": "poster.jpg",
+ "clip": {
+  "renderer": "chromium-webgl",
+  "fps": 25,
+  "seconds": 3.0,
+  "width": 640,
+  "height": 480,
+  "t0": 0,
+  "rendered_at": 1789420176
+ },
+ "academy": {
+  "origin": "pollen-upstream",
+  "official": true,
+  "author_label": "Pollen Robotics",
+  "author_hub": "pollen-robotics",
+  "author": "tfrere",
+  "source_task": "Mjlab-BallKick-Flat-MicroDuck",
+  "source_policy": "pollen-robotics/microduck-policies#ball_kick_right.onnx",
+  "family": "ballkick",
+  "kind": "trick",
+  "tier": 1,
+  "mode": "train",
+  "prompt": "Kick (right foot)",
+  "objective": "Pollen Robotics' kick: a 0.5 s right-foot kick at a ball placed in front of the foot, then back to the walk.",
+  "intents": [],
+  "judge": {
+   "score": null,
+   "pass": null,
+   "numbers": {
+    "final_upright": true,
+    "max_tilt": 0.261,
+    "base_z_mean": 0.1149,
+    "base_z_min": 0.1106,
+    "ball_travel_m": 0.338,
+    "ball_travel_x_m": 0.338,
+    "ball_travel_y_m": -0.017,
+    "ball_peak_speed_m_s": 0.477,
+    "upright_at_0_5s": true,
+    "tilt_at_0_5s": 0.027
+   }
+  },
+  "rounds": [],
+  "lineage": [],
+  "remix_from": null,
+  "session": null,
+  "run_repo": "tfrere/microduck-base-kick-right-train",
+  "shipped_round": null,
+  "checkpoint_iter": 3999,
+  "upstream_sha": "2b25a48",
+  "training": {
+   "move": "kick-right",
+   "task": "Mjlab-BallKick-Flat-MicroDuck",
+   "iters": 4000,
+   "checkpoint_iter": 3999,
+   "checkpoint": "ball_kick_right/2026-09-14_15-50-37_ball_kick_right/model_3999.pt",
+   "upstream_sha": "2b25a48",
+   "upstream_repo": "pollen-robotics/microduck_rl",
+   "num_envs": 4096,
+   "job_id": "6aa8175cf76d6a098a708bc4",
+   "accelerator": "gpu",
+   "finished_at": 1789409672.5522425,
+   "flavor": "a100-large",
+   "run_minutes": 145.5,
+   "cost_usd": 6.06,
+   "staging_repo": "tfrere/microduck-base-kick-right-train",
+   "launcher": "spikes/base_moves/base_move_job.py"
+  },
+  "fidelity": {
+   "takes": {
+    "kick": {
+     "trained": {
+      "final_upright": true,
+      "max_tilt": 0.261,
+      "base_z_mean": 0.1149,
+      "base_z_min": 0.1106,
+      "ball_travel_m": 0.338,
+      "ball_travel_x_m": 0.338,
+      "ball_travel_y_m": -0.017,
+      "ball_peak_speed_m_s": 0.477,
+      "upright_at_0_5s": true,
+      "tilt_at_0_5s": 0.027
+     },
+     "pollen": {
+      "final_upright": true,
+      "max_tilt": 0.261,
+      "base_z_mean": 0.1141,
+      "base_z_min": 0.1125,
+      "ball_travel_m": 0.326,
+      "ball_travel_x_m": 0.326,
+      "ball_travel_y_m": 0.018,
+      "ball_peak_speed_m_s": 0.503,
+      "upright_at_0_5s": true,
+      "tilt_at_0_5s": 0.008
+     }
+    }
+   },
+   "pollen_policy": "pollen-robotics/microduck-policies#ball_kick_right.onnx",
+   "recorder": "space/payload/render/rollout.py",
+   "scenes": "the upstream robot MJCF at timestep 0.005 (spikes/base_moves/fidelity.py)"
+  },
+  "remixable": true,
+  "remix_checkpoint": "base/model.pt",
+  "shipped_at": 1789420176.164145
+ }
+}

policy.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:819caece88b3059e36f0549f59e463aa5bfcf0adf957fce9149abc5e629397d8
+size 793758

train.json

@@ -0,0 +1,18 @@
+{
+ "move": "kick-right",
+ "task": "Mjlab-BallKick-Flat-MicroDuck",
+ "iters": 4000,
+ "checkpoint_iter": 3999,
+ "checkpoint": "ball_kick_right/2026-09-14_15-50-37_ball_kick_right/model_3999.pt",
+ "upstream_sha": "2b25a48",
+ "upstream_repo": "pollen-robotics/microduck_rl",
+ "num_envs": 4096,
+ "job_id": "6aa8175cf76d6a098a708bc4",
+ "accelerator": "gpu",
+ "finished_at": 1789409672.5522425,
+ "flavor": "a100-large",
+ "run_minutes": 145.5,
+ "cost_usd": 6.06,
+ "staging_repo": "tfrere/microduck-base-kick-right-train",
+ "launcher": "spikes/base_moves/base_move_job.py"
+}

video.json

@@ -0,0 +1,22 @@
+{
+ "video": "video.mp4",
+ "poster": "poster.jpg",
+ "fps": 25,
+ "seconds": 3.0,
+ "width": 640,
+ "height": 480,
+ "n_frames": 75,
+ "bytes": 75952,
+ "poster_bytes": 14812,
+ "boot_s": 1.56,
+ "render_s": 4.29,
+ "ms_per_frame": 57.3,
+ "encode_s": 0.18,
+ "codec": "h264",
+ "renderer": "chromium-webgl",
+ "t0": 0,
+ "trail": false,
+ "source_duration": 2.98,
+ "page_errors": [],
+ "poster_t": 0.3
+}