Skip to content
MouseMouse

lucen/laika-kick-toe-f2-4000

Use
Deploy
Test in sim

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°. 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-toe-f2-4000", "./laika-kick-toe-f2-4000")

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-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°.

LineKicking a ball
What changedThe first policy of its line. It has no parent.
CheckpointIteration 4,000.
In simulationPassed some of its tests
On the real robotDeployed
Exported2026-09-29 at commit 980d978
SHA-256917a34ac2e16633a296b43a96d38316870018b8692ea62f3f9a6055be6e6db5f

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 0.5, r_hip_yaw_joint 0.5, r_knee_joint 1.2, r_ankle_pitch_joint 0.5, r_ankle_roll_joint 0.5
Control 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

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.