--- 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) ![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.