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0cd7536 | 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 38 39 | {
"name": "microduck-sim",
"simulated": true,
"title": "Microduck in Pollen's browser simulator (MuJoCo, ONNX walking policy)",
"notes": [
"For the test app (app/): Pollen's simulator at https://huggingface.co/spaces/pollen-robotics/microduck-simulator, revision ad9d41a7.",
"Its walker is commanded up to vx 0.25 m/s forward and 1 rad/s. Below about 0.22 m/s it does not start walking, so cruise is the maximum.",
"achieved: steady speeds measured in the simulator (forward 0.11 m/s at 0.25, in-place left turn 0.26 rad/s at 1, sideways 0.06 m/s at 0.3). Walking starts after about 1.5 s.",
"Backward walking and in-place right turns barely respond in the simulator: the app shows the gap between the plan and the physics.",
"Never drive the real robot with this profile: the app always runs real robots with their own profile (microduck)."
],
"limits": {
"vx": 0.25,
"vy": 0.3,
"vyaw": 1.0,
"head_deg": 30,
"step_seconds": 40,
"plan_seconds": 60,
"meters": 3,
"degrees": 720
},
"cruise": { "vx": 0.25, "vy": 0.3, "vyaw": 1.0 },
"achieved": { "vx": 0.44, "vy": 0.19, "vyaw": 0.26 },
"head_look": { "yaw_deg": 30, "pitch_deg": 20 },
"head_sign": { "yaw": 1, "pitch": 1, "roll": 1 },
"skills": {
"kick_left": "kick a ball with the left foot",
"kick_right": "kick a ball with the right foot",
"roulade": "forward roll on the ground",
"ground_pick": "bend down and pick something up from the ground",
"sit_toggle": "sit down, or stand up again if already sitting",
"polite-bow": "polite bow to greet someone"
},
"skill_seconds": 4,
"rate_hz": 10,
"transport": "unix:/run/robotd.sock",
"skill_command": ["robotctl", "robot", "do", "{skill}"]
}
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