Locomotion robot configurations

Locomotion robot configurations#

These presets construct the bundled locomotion models through the ordinary RobotCfg and Robot interfaces. Each provides a floating base, its standing pose, the locomotion control group and the existing simulation PD drive defaults. They do not provide limb IK solvers or external actuator networks.

UnitreeGo1Cfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.

UnitreeGo2Cfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.

UnitreeG1Cfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.

UnitreeH12Cfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.

ANYmalCCfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.

MicroDuckCfg.from_dict(init_dict)

Build the model defaults, then apply explicit caller overrides.
class embodichain_robots.UnitreeGo1Cfg[source]#

Twelve-joint Go1 preset with the bundled USD asset and standing pose.

class embodichain_robots.UnitreeGo2Cfg[source]#

Twelve-joint Go2 preset with the bundled USD asset and standing pose.

class embodichain_robots.UnitreeG1Cfg[source]#

Twenty-nine-joint G1 preset with the bundled USD asset and standing pose.

class embodichain_robots.UnitreeH12Cfg[source]#

Twenty-seven-joint H1_2 preset with the bundled USD asset and standing pose.

class embodichain_robots.ANYmalCCfg[source]#

Twelve-joint ANYmal-C preset with its bundled USD asset and joint limits.

class embodichain_robots.MicroDuckCfg[source]#

Fourteen-joint MicroDuck preset with the bundled URDF asset and standing pose.

Each class inherits embodichain.lab.sim.cfg.RobotCfg fields. Its from_dict method builds the model defaults before merging explicit field overrides. Use catalog resolution or from_dict({}) for standalone creation.

Model descriptions without a simulation backend#

The profile reader supplies independent copies to standalone robot configs and pure Torch task contracts. Asset initial positions use source joint order; the description’s standing positions use its explicit joint-name order. Task-specific action scales, observations, rewards and fall rules remain in the task package. Explicit deployment drive overrides take precedence.

load_locomotion_robot_profile(robot_id)

Load an isolated model description without importing simulation code.
embodichain_robots.locomotion_profiles.load_locomotion_robot_profile(robot_id)[source]#

Load an isolated model description without importing simulation code.

Parameters:

robot_id (str) – Exact bundled locomotion robot catalog ID.

Return type:

dict[str, Any]

Returns:

A fresh mapping containing asset construction defaults, robot joint order, standing pose and drive parameters, and frames model reference points. Joint positions in asset.init_qpos follow source asset order; robot.default_joint_position follows robot.joint_names. Profiles describe the existing simulation models, not hardware calibration.

Raises:

ValueError – The ID has no bundled locomotion profile.

Implementation module imports#

The same preset classes are available through their lazy vendor/model packages:

class embodichain_robots.anybotics.anymal_c.ANYmalCCfg[source]#

Defining-module import of embodichain_robots.ANYmalCCfg.

class embodichain_robots.pollen_robotics.microduck.MicroDuckCfg[source]#

Defining-module import of embodichain_robots.MicroDuckCfg.

class embodichain_robots.unitree.g1.UnitreeG1Cfg[source]#

Defining-module import of embodichain_robots.UnitreeG1Cfg.

class embodichain_robots.unitree.go1.UnitreeGo1Cfg[source]#

Defining-module import of embodichain_robots.UnitreeGo1Cfg.

class embodichain_robots.unitree.go2.UnitreeGo2Cfg[source]#

Defining-module import of embodichain_robots.UnitreeGo2Cfg.

class embodichain_robots.unitree.h1_2.UnitreeH12Cfg[source]#

Defining-module import of embodichain_robots.UnitreeH12Cfg.

Configuration implementations#

Each model package keeps its configuration implementation beside its model profile and asset definition. Package-root class imports remain supported.

class embodichain_robots.unitree.go1.cfg.UnitreeGo1Cfg[source]#

Configuration implementation exported by embodichain_robots.unitree.go1.UnitreeGo1Cfg.

class embodichain_robots.unitree.go2.cfg.UnitreeGo2Cfg[source]#

Configuration implementation exported by embodichain_robots.unitree.go2.UnitreeGo2Cfg.

class embodichain_robots.unitree.g1.cfg.UnitreeG1Cfg[source]#

Configuration implementation exported by embodichain_robots.unitree.g1.UnitreeG1Cfg.

class embodichain_robots.unitree.h1_2.cfg.UnitreeH12Cfg[source]#

Configuration implementation exported by embodichain_robots.unitree.h1_2.UnitreeH12Cfg.

class embodichain_robots.anybotics.anymal_c.cfg.ANYmalCCfg[source]#

Configuration implementation exported by embodichain_robots.anybotics.anymal_c.ANYmalCCfg.

class embodichain_robots.pollen_robotics.microduck.cfg.MicroDuckCfg[source]#

Configuration implementation exported by embodichain_robots.pollen_robotics.microduck.MicroDuckCfg.

Model-owned assets#

These archive definitions use the shared core downloader and preserve the existing asset IDs, checksums and cache prefixes. The legacy locomotion asset namespace forwards to these same classes.

class embodichain_robots.unitree.go1.assets.UnitreeGo1Locomotion[source]#

Robot descriptions and dependencies for UnitreeGo1Locomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
class embodichain_robots.unitree.go2.assets.UnitreeGo2Locomotion[source]#

Robot descriptions and dependencies for UnitreeGo2Locomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
class embodichain_robots.unitree.g1.assets.UnitreeG1Locomotion[source]#

Robot descriptions and dependencies for UnitreeG1Locomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
class embodichain_robots.unitree.h1_2.assets.UnitreeH1_2Locomotion[source]#

Robot descriptions and dependencies for UnitreeH1_2Locomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
class embodichain_robots.anybotics.anymal_c.assets.ANYmalCLocomotion[source]#

Robot descriptions and dependencies for ANYmalCLocomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
class embodichain_robots.pollen_robotics.microduck.assets.MicroDuckLocomotion[source]#

Robot descriptions and dependencies for MicroDuckLocomotion.

Methods:

__init__([data_root])

__new__(**kwargs)

__init__(data_root=None)#
__new__(**kwargs)#
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