initialising physics…
loading unitree_h1 cad · rapier3d
ep 1 · step 0 · return 0.00
Environment · Flat ground
Bare locomotion stage. Velocity tracking, push recovery and gait shaping with no obstacles.
Drive with W/A/S/D, turn with Q/E, grasp with G — or press run task for the full approach → grasp → carry → place pipeline.