FTH 4 · Operating a real humanoid|INEMA.CLUB-PRO

Lesson 8 · 20 min

The deployment plan for your lab

The course 2 ladder becomes a procedure: manufacturer simulator, sim2sim, suspended, floor. In this last lesson of the program you write the plan for your lab in four steps, each with a criterion to pass and a stop condition, check it with a script, and close the FTH with the map of what you built across the five courses.

Start the lesson
A dark lab laid out in sequence: a monitor with a robot in simulation, a robot hanging from a gantry, and a test area marked with yellow tape on the floor.

In this lesson you will

  1. 1The ladder applied to the robot: 4 steps, none skipped
  2. 2Criterion to pass = command and output, or measurement and limit
  3. 3Stop condition written beforehand, not decided on the spot
  4. 4The program map: what each course left on your bench

Goal: write the lab deployment plan in 4 steps, each with a criterion to pass and a stop condition.

01The deployment ladder

Click each step. Failed, go back one.

Click each block in the diagram to see what it does.

The ladder comes from course 2 (owner of the subject); here it gets names, criteria and who signs.

02The plan and the checker

Copy the template, fill in the brackets and check. The checker requires 4 steps, each with a criterion and a stop condition, and no open fields.

Terminal · copy the template and check
F=${FTH:-$HOME/fth}; cd $F
[ -f plano.md ] || cp operar/kit/plano-modelo.md plano.md
python3 operar/kit/conferir_plano.py plano.md; echo "saída: $?"
File · kit/plano-modelo.md
# Plano de implantação — [nome do laboratório] · [robô e versão]

Responsável: [nome] · Data: [dd/mm/aaaa] · Checklist da aula 1: [caminho do checklist.yaml]

## Degrau 1 · Simulador do fabricante
- Ensaio: [o que roda no unitree_mujoco ou equivalente]
- Critério para passar: [comando → saída esperada]
- Parar se: [o que reprova o degrau]

## Degrau 2 · Sim2sim
- Ensaio: [a mesma política num segundo simulador]
- Critério para passar: [comando → saída esperada]
- Parar se: [o que reprova o degrau]

## Degrau 3 · Suspenso no pórtico
- Ensaio: [robô real pendurado, pés fora do chão]
- Critério para passar: [o que você mede e o limite]
- Parar se: [o que reprova o degrau]

## Degrau 4 · No chão, com elástico folgado
- Ensaio: [primeiros passos no chão, zona isolada]
- Critério para passar: [o que você mede e o limite]
- Parar se: [o que reprova o degrau]

## Registro e revisão
- Onde ficam os registros (MCAP): [pasta]
- Quem revisa antes do próximo degrau: [nome]
Terminal · check after filling in
F=${FTH:-$HOME/fth}; cd $F
python3 operar/kit/conferir_plano.py plano.md; echo "saída: $?"
Example from the repository
4 degraus, 4 critérios, 4 condições de parada, 0 campos por preencher
ok
saída: 0

Plan for a sample lab, filled in: 4 steps, 4 criteria, 4 stop conditions.

03Practice

The plan you take to the lab.

E1 · Your plan

25 min

Fill in ~/fth/plano.md for your lab (or the one you would use). For steps 1 and 2, use as criteria commands and outputs you have already run in this program.

Done when: python3 operar/kit/conferir_plano.py plano.md; echo "saída: $?" → ok and saída: 0.

E2 · Peer review

10 min

Swap plans with another person and ask them to point out a criterion that can't be measured. Rewrite until it becomes a command and output, or a measurement and limit.

Done when: the checker stays at ok and each "Criterion to pass" has a number or a literal output.

04What you built in the program

Four deliverables from this course. Click a step to see the "done when".

Lesson 1Checklist

12 items

2 exercises

Checklist signed and checked.

See the lesson
Lessons 2–3Bench

SDK + DDS

2 exercises

Simulator and SDK pinned; state read and measured.

See the lesson
Lessons 4–5Safeguards

ramp, watchdog, fall

3 exercises

Command with a limit, ramp, watchdog, and detector.

See the lesson
Lessons 6–8Deployment

ROS 2, logging, plan

2 exercises

Container, MCAP, and a 4-step plan.

See the lesson
By the end of the programFrom the body in MJCF to the robot on the floor, each step with a command and output you checked.
8 lessons
Click an exercise to see what to do and the "done when".
  1. 1/5

    Checklist

    Area, people, gantry, stop, fall, software and robot: 12 items with who checked and when.

  2. 2/5

    Bench

    unitree_mujoco, SDK, and CycloneDDS 0.10.2 in ~/fth, with the rate measured instead of memorized.

  3. 3/5

    Safeguards

    The three command safeguards and the fall detector, measured in the simulator.

  4. 4/5

    Deployment

    The robot's ROS 2 in isolation, a recorded session, and the plan that takes the robot from the simulator to the floor.

  5. 5/5

    The whole course

    Four deliverables in sequence. Courses 0 to 3 give you the policy and the body; this one gives you the procedure to take them to the robot.

Without the checklist from lesson 1, no step with the real robot begins.

05Generate your study plan with dates

Pick a start date and how much time you have per week. The plan lists the practices for each lesson.

06Lesson quiz

The explanation appears after your answer.

Question 1 of 4

What is the order of the deployment ladder?skill

07In three sentences

LadderSimulator, sim2sim, suspended and floor, without skipping a step.
CriterionEach step passes by command and output, or measurement and limit.
StopWritten beforehand; a fall leads back to suspended.

The whole training

FTH 0 · The humanoid's bodyFTH 1 · Teaching it to walk (locomotion by RL)FTH 2 · From simulator to floor (sim-to-real)FTH 3 · Whole body: imitate, teleoperate and obeyFTH 4 · Operating a real humanoid (this course)VLA: robots that see, understand and actRobotics from scratch: robot course
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