backroll
Backward roll: rolls over the back and stands up. Sim-only, not yet tested on a real robot - try on a soft surface first.
A episodic policy for the microduck (61-D observation, 14 actions, 50 Hz). Runs 4.0 s and returns itself to a standing pose.
Run it on a robot
sudo robotctl policy add backroll IgaPro/microduck-backroll
robotctl robot do backroll
The observation normalizer is baked into policy.onnx; feed raw observations.
manifest.json follows schema 2 of the microduck policy manifest (docs/policy-manifest.md in the daemon repo).
Training
- task_id:
Mjlab-Backroll-Flat-MicroDuck - repo:
pollen-robotics/microduck_rl - branch:
backroll - commit:
b02fdea49 - exported from a checkout with uncommitted changes
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