| { |
| "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}"] |
| } |
|
|
