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lucen/laika-kick-side-v02-trial

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A kick with the inside of the foot. It passes 6 of 10 tests and kicks at a median 1.90 m/s. It fails on support-foot slip and on turning. A policy for lucen/laika.

robotlaika50 Hz

Use it from Python

Close

The same download from a script or a notebook.

from lucen import Hub

hub = Hub()
hub.pull("lucen/laika-kick-side-v02-trial", "./laika-kick-side-v02-trial")

The module comes with the CLI. Python guide.

In simulation

Laika v2, the robot this policy is for

No published sim test yet. When the policy's owner publishes one, it shows here. Test in sim

How it was trained

Its training run is private to the person who ran it. Published .

Observation
47 values in 7 blocks: base angular velocity, projected gravity, commands, joint position relative, joint velocity, last action, kick phase

README

README.md

laika-kick-side-v02-trial

A kick with the inside of the foot. It passes 6 of 10 tests and kicks at a median 1.90 m/s. It fails on support-foot slip and on turning.

LineKicking a ball
What changedThe first policy of its line. It has no parent.
CheckpointIteration 2,800.
In simulationPassed some of its tests
On the real robotDeployed
Exported2026-09-29 at commit bdb7787
SHA-2561aaf788ca3312bc2679090abb91ab21e152cdbded070eec8b2997cecd96d26d8

Lineage

The first policy of its line.

Inputs and outputs

Shown in the Contract card

This section is read from the contract stamped inside the ONNX file. The robot refuses a policy whose contract does not match its own. The same contract is in io_contract.json.

Observation47 values: base angular velocity (3), gravity direction (3), velocity command (3), joint positions (12), joint velocities (12), previous action (12), kick phase (2)
Action12 values, one per joint, clipped to ±1
Action scalel_hip_pitch_joint 0.5, l_hip_roll_joint 0.5, l_hip_yaw_joint 0.5, l_knee_joint 0.5, l_ankle_pitch_joint 0.5, l_ankle_roll_joint 0.5, r_hip_pitch_joint 0.8, r_hip_roll_joint 0.8, r_hip_yaw_joint 1, r_knee_joint 1.2, r_ankle_pitch_joint 0.7, r_ankle_roll_joint 0.6
Control rate50 Hz
Starting base height0.38 m
Sideways feed-forward gain0
Joint orderl_hip_pitch_joint, l_hip_roll_joint, l_hip_yaw_joint, l_knee_joint, l_ankle_pitch_joint, l_ankle_roll_joint, r_hip_pitch_joint, r_hip_roll_joint, r_hip_yaw_joint, r_knee_joint, r_ankle_pitch_joint, r_ankle_roll_joint

Plant it was trained against

Full values in the Files tab
Torque limitRS00 11 N·m, RS02 17 N·m, RS06 12 N·m
Velocity limitRS00 33 rad/s, RS02 20 rad/s, RS06 10 rad/s
ArmatureRS00 0.0015, RS02 0.0032, RS06 0.007
Joint frictionRS00 0.13, RS02 0.12, RS06 0.15
Joint damping0.02
Default stiffness and dampingRS00 12 and 0.6, RS02 20 and 1, RS06 30 and 1.5
URDF and USD fingerprintsd6fab96bfc280a4d and 92b141c8dd200483

If the robot's motors differ from these, the simulator warns and the real robot refuses the policy.

Real robot

Sent to the real robot for a comparison on 29 September 2026. The result is not recorded.

Note

An earlier ball speed of 1.73 m/s came from overlapping collision boxes. With the ball placed correctly it leaves at 1.28 m/s.

Where it comes from

Lucen Robotics trained this policy for Laika in Isaac Lab. The inputs, outputs and plant come from the ONNX file's own stamp. The sim tests, where there are any, come from the training log's results.