PPO algorithm config extended with an optional symmetry_cfg field.

Entity minimale : find_joints() résout par nom depuis un dict {nom: index}.

Plat de départ → rampe descendante → plat de sortie. Trois box alignés le long de +x : 1. plat de départ (surface à z=0) où le robot spawne

A manifest that the daemon would refuse, or that would load and run wrongly.

FrictionDRBamActuator whose firmware PD reads the encoder THROUGH backlash. Backlash models (robot_groundcontact_backlash.xml) put an unactuated

FrictionDRBamActuatorCfg whose PD feedback reads through backlash joints.

One duck's view of the world: its joints, its actuators, its trunk.

What an export produced and where it came from, for the publisher's provenance block.

BamActuator + per-env friction_scale on the BAM friction budget.

Drop-in for BamActuatorCfg that builds a friction-DR-capable actuator.

Phase-encoding command for the ground pick / sit-stand tasks. Replaces the velocity command with a cyclic phase signal: command = [cos(2π

Velocity command where cmd[2] is the heading error in the robot's body frame. cmd[0] = lin_vel_x (throttle: 0=coast, +push, -brake) cmd[1] =

Posture command: cmd = [sit_flag, 0, 0] with dwell-time resampling and a SLEWED internal target blend. sit_flag ∈ {0.0, 1.0}. Resampled by th

Single-keypress reader on stdin (cbreak mode, background thread). Replaces the MuJoCo viewer key_callback: keypresses in the viewer window al

The 8x8 sensor on one duck's `tof` site. Rays are cast in the site's frame — +x forward, +y left, +z up — so a head that turns takes the sens

Generic N-dim uniform pose command. Samples each dim independently uniform in cfg.ranges[i] = (lo, hi) and holds the value between resamples.

Like UniformVelocityCommand but only draws the command arrows (no actual velocity arrows).

The physics, shared by every duck in it. One `mj_step` advances all of them, which is what makes a shove real rather than decorative. The loc

One duck's daemon. One connection at a time, which is the real relationship too.

Where the weights came from. Display-only for the daemon; the part people skip by hand.

Uniform single-scalar target angle command.

Per-dim uniform ranges; builds a UniformPoseCommand.