MicroDuck

MicroDuck#

MicroDuckCfg configures the bundled 14-joint MicroDuck biped, including its floating base, standing pose and simulation PD drive defaults.

MicroDuck robot

MicroDuck in the default joint pose

Usage#

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import MicroDuckCfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=1))
cfg = MicroDuckCfg.from_dict({})
robot = sim.add_robot(cfg=cfg)

The catalog ID is also accepted by the shared preview command:

embodichain preview-robot --robot MicroDuck

Robot Configuration#

Item

Default

Catalog ID / UID

MicroDuck

Configuration class

MicroDuckCfg

Canonical module

embodichain_robots.pollen_robotics.microduck

Vendor

pollen_robotics

Morphology

biped

Arm count

0

Asset

MicroDuckLocomotion/microduck.urdf

Control parts

locomotion: 14 joints

Base

Floating

Initial root height

0.12 m

Physics backends

Default and Newton

Limb IK solvers

None; build_pk_chain=False

Standard RobotCfg overrides, including joint_drive_props, are accepted by from_dict. Locomotion tasks preserve these explicit overrides.

See Also#

Contents