Velocity-Tracking Tasks

Velocity-Tracking Tasks#

These tasks live under embodichain_tasks/configs/tasks/locomotion/velocity. Every task provides env.yaml for the default physics backend and env.newton.yaml for Newton, plus a matching PPO trainer configuration.

Task

Environment ID

Embodiment

Backends

ANYmal C Flat

ANYmalCFlatRL-v1

ANYmal C

Default, Newton

Unitree G1 Flat

UnitreeG1FlatRL-v1

Unitree G1

Default, Newton

Unitree Go1 Flat

UnitreeGo1FlatRL-v1

Unitree Go1

Default, Newton

Unitree Go2 Flat

UnitreeGo2FlatRL-v1

Unitree Go2

Default, Newton

Unitree H1-2 Flat

UnitreeH1_2FlatRL-v1

Unitree H1-2

Default, Newton

MicroDuck Flat

MicroDuckFlatRL-v1

MicroDuck

Default, Newton

Select the backend through the configuration file rather than using the launcher to switch physics:

embodichain run-env \
    --gym_config embodichain_tasks/configs/tasks/locomotion/velocity/go2_flat/env.newton.yaml