| { |
| "name": "microduck", |
| "title": "Microduck by Pollen Robotics (25 cm biped, 15 servos)", |
| "notes": [ |
| "Velocity limits are the trained ranges of the Microduck walking policies (vx +-0.4 m/s, vy +-0.3 m/s, vyaw +-1 rad/s).", |
| "achieved: measured speed / commanded speed for your walking policy. 1.0 until you calibrate it with `python -m flymotion calibrate`.", |
| "head_look: the head angles of \"look left\", \"look up\"... head_sign: flip a sign if the head turns the wrong way on your robot." |
| ], |
| "limits": { |
| "vx": 0.4, |
| "vy": 0.3, |
| "vyaw": 1.0, |
| "head_deg": 30, |
| "step_seconds": 40, |
| "plan_seconds": 60, |
| "meters": 3, |
| "degrees": 720 |
| }, |
| "cruise": { "vx": 0.2, "vy": 0.15, "vyaw": 0.8 }, |
| "achieved": { "vx": 1.0, "vy": 1.0, "vyaw": 1.0 }, |
| "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}"] |
| } |
|
|
