Spin — spinning in place
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Mjlab-Spin-Flat-MicroDuckSpinning fast in place on the wheels.
Why it only exists on wheels
Turning in place while walking means alternating steps, and step frequency caps the rate. With the wheels cutting friction, the robot can carry angular momentum and keep turning — something walk mode cannot do.
One thing to watch while training
A fast spin drives the IMU into ranges the rest of training does not cover, and the robot has no magnetometer — odometry is relative and drifts already, and a fast spin makes that drift much worse.
It does not affect the policy itself, but it does affect how much the track in robotctl monitor can be trusted. After a spin, that panel is not worth reading.