laika-kick-toe-f2-4000
An instep kick. It passes 6 of 10 tests, kicking at a median 2.19 m/s with no ground scrapes. Its median turn is 8.2°.
| Line | Kicking a ball |
| What changed | The first policy of its line. It has no parent. |
| Checkpoint | Iteration 4,000. |
| In simulation | Passed some of its tests |
| On the real robot | Deployed |
| Exported | 2026-09-29 at commit 980d978 |
| SHA-256 | 917a34ac2e16633a296b43a96d38316870018b8692ea62f3f9a6055be6e6db5f |
Lineage
The first policy of its line.
Inputs and outputs
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.
| Observation | 47 values: base angular velocity (3), gravity direction (3), velocity command (3), joint positions (12), joint velocities (12), previous action (12), kick phase (2) |
| Action | 12 values, one per joint, clipped to ±1 |
| Action scale | l_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 0.5, r_hip_yaw_joint 0.5, r_knee_joint 1.2, r_ankle_pitch_joint 0.5, r_ankle_roll_joint 0.5 |
| Control rate | 50 Hz |
| Starting base height | 0.38 m |
| Sideways feed-forward gain | 0 |
| Joint order | l_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
| Torque limit | RS00 11 N·m, RS02 17 N·m, RS06 12 N·m |
| Velocity limit | RS00 33 rad/s, RS02 20 rad/s, RS06 10 rad/s |
| Armature | RS00 0.0015, RS02 0.0032, RS06 0.007 |
| Joint friction | RS00 0.13, RS02 0.12, RS06 0.15 |
| Joint damping | 0.02 |
| Default stiffness and damping | RS00 12 and 0.6, RS02 20 and 1, RS06 30 and 1.5 |
| URDF and USD fingerprints | d6fab96bfc280a4d 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
Earlier ball readings from the inside of the foot were wrong, because two collision boxes overlapped. This kick's readings stand.
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.