XGO Duck

Mode —

Enable Roller mode to use the roller walking model during Walk / get up. Recovery uses the get-up model. Commands always cover all 15 IDs. A missing ID is shown here and does not block the others. Default pose and walk send position targets. Leaving this page or keeping it in the background zeros motion and preserves the selected control mode. Use Torque off or enter Calibration to unload. Pick runs only while walking upright: it plays xgoduck_pick for one 4 s cycle, then returns to walk. Roulade plays xgoduck_roulade for 1.9 s with twist and head at 0, and leg/neck smoothing at 0.15, then returns to walk and the previous smoothing. Tilt does not select get-up during those 1.9 s.

Walk and recovery —

Walk: tilt above 55° for 0.15 s selects the get-up model, holds action = 0 for 1 s, then runs the get-up action. Get-up: tilt below 15° for 1 s returns to walk. Twist and head commands are zero during get-up. Inference-only mode previews the switch without enabling torque. During pick the command is a phase encoding; the mouth opens to 30° and closes when φ ≥ 0.4.

Motion

Warning: Holding a toe-out stance for long periods heats up the roll motors. Take regular breaks to let them cool down.

Drag a pad; release returns it to zero. Each axis has a 15% center dead zone and motion smoothing. Limits: vx -0.2 to +0.4, vy ±0.3, ωz ±1.0. Ranges follow Roller mode; switching modes clears motion. Keys: W/S forward, A/D strafe, Q/E yaw. Space turns torque off.

Head and mouth

Head 1–4 are radians (±1). The mouth is motor 34, 0–30°, and is sent with the 50 ms command heartbeat. It is not part of the policy observation.

Action settings · Walking / other models

Adjust separate settings for roller walking and other models. Roller defaults: scale 0.7, leg α 0.4, head α 0.5. Other defaults: scale 1, leg α 0.45, head α 0.2. Scale changes action offsets from the home pose. Release a slider to apply; restarting the app restores each group's defaults.

IMU filtering

Higher angular velocity α gives more smoothing; higher gravity τ slows accelerometer correction. Changes apply immediately. Restarting the app restores defaults.