test_walk_publish
test_walk_publish
A perpetual policy for the microduck (61-D observation, 14 actions, 50 Hz). Holds until told otherwise; the daemon drives command.idle for 0.5 s before handing back to the gait.
Run it on a robot
sudo robotctl policy add test_walk_publish apirrone/test_walk_publish --hold <seconds>
robotctl robot do test_walk_publish
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
- repo:
pollen-robotics/microduck_rl - branch:
publish_policies - commit:
8dc749c4d