Environments
V1 includes six task families, exposed through seven configuration keys. Choose a task, then select a planner from the planner catalogue.
| Task | What it provides | Starting configuration | Implementation |
|---|---|---|---|
| Planar navigation | A bounded 2D point robot for constrained planning and obstacle avoidance. | MD-COAS | Single integrator |
| 7-DoF arm avoidance | D3IL obstacle avoidance with Cartesian XY or seven-joint velocity actions. | MD-COAS | Cartesian interface · Joint-velocity interface |
| Quadruped stepping stones | Joint planning of body motion, foot residuals and gait phase over discrete footholds. | 2GO | Stepping-stone model |
| Humanoid corridor | Navigation through narrow passages using body pose, height and arm posture. | 2GO · Zone A | Corridor model |
| Surface scanning | Contact scanning across planar, cylindrical and NURBS surfaces with motion, stiffness and force control. | MGA | Surface-scan API |
| Peg insertion | Contact-rich insertion with motion–impedance actions and pose, clearance, friction and sensing variants. | MGA | Insertion environment |
Configuration keys
env_name |
Interface |
|---|---|
single_integrator_box_2d |
2D position state and velocity action. |
d3il_avoiding |
Cartesian interface: 4D state containing commanded and measured XY; 2D XY action. |
d3il_avoiding_9d |
Joint interface: 9D state containing TCP XY and seven joint positions; 7D joint-velocity action. |
quadruped_stepping_stones_2d |
Reduced planning model with 16D state and 12D action. |
humanoid_corridor_2d |
Reduced planning model with 14D state and 9D action. |
manipulator_surface_scan |
MuJoCo/MJX contact simulation with a motion–stiffness–force primitive. |
manipulator_peg_insert |
MuJoCo/MJX contact simulation with a pose–stiffness–force primitive. |
These are experiment configuration keys. D3IL tasks are constructed through
the runner's environment plugins; they are not a promise that every key can be
passed directly to make_env().
Run a task
Start with the planar CPU recipe, the humanoid corridor recipe, or the algorithm recipes. Inspect a configuration before running:
genedynamics-run configs/single_2d/mdcoas.yaml \
--device cpu --seed 0 --level 0 --dry-run
Install the optimization and simulation extras required by the selected recipe. D3IL also requires its integration setup. MuJoCo, MJX and Brax are simulation layers; they do not introduce additional task families.
The V1 compatibility contract defines the release scope. Additional source implementations are available for experimentation, but are outside this supported task catalogue. Humanoid walking/push execution and MGA GPU qualification remain follow-up work.