Manip-Loco

go2_arm_manip_loco combines Go2 locomotion with the Airbot arm. The registered env is Go2ArmManipLoco.

Owner Configs

  • PPO owner: conf/ppo/task/go2_arm_manip_loco/mujoco.yaml

  • HIM-PPO owner: conf/ppo_him/task/go2_arm_manip_loco/mujoco.yaml

  • Scene entry: src/unilab/assets/robots/go2_arm/scene_flat.xml

PPO

uv run train --algo ppo --task go2_arm_manip_loco --sim mujoco training.no_play=true

HIM-PPO

The HIM-PPO owner is conf/ppo_him/task/go2_arm_manip_loco/mujoco.yaml. src/unilab/cli.py does not currently expose HIM-PPO as a top-level uv run train --algo ... route.

The current committed owner path is MuJoCo. Keep backend selection in --task go2_arm_manip_loco --sim mujoco, and do not override training.sim_backend alone.