feat: add cyberdog2 flat locomotion

configs/task/cyberdog2-walk-flat/motrix.fastsac.yaml

@@ -0,0 +1,23 @@
+# @package _global_
+# Task cyberdog2-walk-flat: motrix.fastsac shared training recipe.
+defaults:
+  - /algo_base@algo: motrix.fastsac
+  - _self_
+task:
+  env: cyberdog2-walk-flat
+  rllib: motrix
+  algo: fastsac
+num_envs: 1024
+play_num_envs: 16
+seed: 1
+checkpoint:
+  interval: 1000
+algo:
+  agent:
+    actor_hidden_dim: 512
+    critic_hidden_dim: 512
+    num_atoms: 101
+    v_min: -30.0
+    v_max: 30.0
+    num_updates: 2
+    buffer_size: 512

configs/task/cyberdog2-walk-flat/rslrl.ppo.yaml

@@ -0,0 +1,36 @@
+# @package _global_
+# Task cyberdog2-walk-flat: rslrl.ppo shared training recipe.
+defaults:
+  - /algo_base@algo: rslrl.ppo
+  - _self_
+task:
+  env: cyberdog2-walk-flat
+  rllib: rslrl
+  algo: ppo
+  train_backend: null
+num_envs: 49152
+play_num_envs: 16
+seed: 1
+checkpoint:
+  interval: 100
+algo:
+  max_iterations: 3000
+  obs_groups:
+    actor:
+      - policy
+    critic:
+      - value
+  actor:
+    hidden_dims:
+      - 512
+      - 256
+      - 128
+    init_noise_std: 0.5
+  critic:
+    hidden_dims:
+      - 512
+      - 256
+      - 128
+  algorithm:
+    desired_kl: 0.01
+    entropy_coef: 0.001

configs/task/cyberdog2-walk-flat/skrl.ppo.jax.yaml

@@ -0,0 +1,15 @@
+# @package _global_
+# Task cyberdog2-walk-flat: skrl.ppo, train_backend=jax delta.
+defaults:
+  - /task/cyberdog2-walk-flat/skrl.ppo@_global_
+  - _self_
+task:
+  train_backend: jax
+algo:
+  agent:
+    rollouts: 12
+    learning_rate: 0.0008
+    learning_rate_scheduler_kwargs:
+      kl_threshold: 0.03
+    grad_norm_clip: 0.75
+    kl_threshold: 0.07

configs/task/cyberdog2-walk-flat/skrl.ppo.torch.yaml

@@ -0,0 +1,13 @@
+# @package _global_
+# Task cyberdog2-walk-flat: skrl.ppo, train_backend=torch delta.
+defaults:
+  - /task/cyberdog2-walk-flat/skrl.ppo@_global_
+  - _self_
+task:
+  train_backend: torch
+algo:
+  agent:
+    rollouts: 24
+    learning_rate: 0.0003
+    learning_rate_scheduler_kwargs:
+      kl_threshold: 0.01

configs/task/cyberdog2-walk-flat/skrl.ppo.yaml

@@ -0,0 +1,40 @@
+# @package _global_
+# Task cyberdog2-walk-flat: skrl.ppo shared training recipe.
+defaults:
+  - /algo_base@algo: skrl.ppo
+  - _self_
+task:
+  env: cyberdog2-walk-flat
+  rllib: skrl
+  algo: ppo
+  train_backend: null
+num_envs: 1024
+play_num_envs: 16
+seed: 1
+checkpoint:
+  interval: 100
+algo:
+  models:
+    value:
+      hiddens:
+        - 512
+        - 256
+        - 128
+    policy:
+      initial_log_std: -0.6931471805599453
+      hiddens:
+        - 512
+        - 256
+        - 128
+    separate: true
+  agent:
+    rollouts: 24
+    mini_batches: 4
+    learning_epochs: 5
+    learning_rate: 0.0003
+    learning_rate_scheduler_kwargs:
+      kl_threshold: 0.01
+    entropy_loss_scale: 0.001
+    value_loss_scale: 1.0
+  trainer:
+    timesteps: 12000

motrix_deploy_tasks/src/motrix_deploy_tasks/config/task/cyberdog2-walk-flat/sim.yaml

@@ -0,0 +1,25 @@
+# @package _global_
+# cyberdog2 flat sim spawns crouched, which enables the stand-up preparation lifecycle
+# (R then P in the viewer), and requires the clipped crouch translation below.
+defaults:
+  - /runtime: sim
+  - _self_
+
+artifact: artifacts/cyberdog2-walk-flat.deploy
+
+runtime:
+  backend: mujoco
+  sensor_bindings:
+    base_angular_velocity: gyro
+    base_linear_acceleration: accelerometer
+    base_linear_velocity: global_linvel
+  deploy_env_id: flat
+  robot_id: cyberdog2
+  robot_init_key_pose: defaults
+  # Imported root starts at 0.445 m; place clipped crouch close to floor
+  # without an initial penetration in the flat MuJoCo scene.
+  robot_translation: [0.0, 0.0, -0.32]
+  robot_rotation: [0.0, 0.0, 0.0, 1.0]
+  physics:
+    dt: 0.002
+    solver_iterations: 100

motrix_envs/src/motrix_envs/locomotion/quadruped/__init__.py

@@ -1,4 +1,4 @@
 # Copyright Motphys Technology Co., Ltd. 2025, 2026
 # SPDX-License-Identifier: Apache-2.0
 
-from . import anymalc, go1, go2, walk_np  # noqa: F401 register envs and expose base task
+from . import anymalc, cyberdog2, go1, go2, walk_np  # noqa: F401 register envs and expose base task

motrix_envs/src/motrix_envs/locomotion/quadruped/cfg.py

@@ -157,8 +157,8 @@ def validate(self) -> None:
 
 @configclass
 class VelocityCommandCfg:
-    lower: NDArray[np.float32] = np.array([0.5, 0.0, 0.0], dtype=np.float32)
-    upper: NDArray[np.float32] = np.array([0.5, 0.0, 0.0], dtype=np.float32)
+    lower: NDArray[np.float32] = np.array([1, 0.0, 0.0], dtype=np.float32)
+    upper: NDArray[np.float32] = np.array([1, 0.0, 0.0], dtype=np.float32)
     standing_probability: float = 0.0
     standing_threshold: float = 0.05
     resampling_seconds_range: tuple[float, float] | None = None
@@ -172,7 +172,6 @@ def validate(self) -> None:
                     f"got {self.resampling_seconds_range}"
                 )
 
-
 @configclass
 class Commands:
     velocity: VelocityCommandCfg = VelocityCommandCfg()

motrix_envs/src/motrix_envs/locomotion/quadruped/cyberdog2.py

@@ -0,0 +1,93 @@
+# Copyright Motphys Technology Co., Ltd. 2025, 2026
+# SPDX-License-Identifier: Apache-2.0
+
+"""Cyberdog2 flat- and rough-terrain walk configuration and environment registration."""
+
+from dataclasses import replace
+
+import numpy as np
+from motrix_robots.cyberdog2 import Cyberdog2Robot
+
+from motrix_env_core import registry
+from motrix_env_core.config import configclass
+from motrix_env_core.config.scene import FlatTerrainCfg
+from motrix_envs.config.scene import StandardSceneObjsCfg
+from motrix_envs.locomotion.quadruped.cfg import (
+    Commands,
+    QuadrupedSceneCfg,
+    QuadrupedWalkEnvCfg,
+    QuadrupedWalkRandomizationCfg,
+    RewardConfig,
+    RewardScales,
+    Sensor,
+    VelocityCommandCfg,
+)
+from motrix_envs.locomotion.quadruped.walk_np import QuadrupedWalkTask
+
+
+@registry.envcfg("cyberdog2-walk-flat")
+@configclass
+class Cyberdog2WalkCfg(QuadrupedWalkEnvCfg):
+    """Track walking commands with Cyberdog2 on flat ground.
+
+    zh_CN: 控制 Cyberdog2 在平地上跟踪行走指令。
+    """
+
+    render_spacing: float = 0.0
+    spawn_xy_range: float = 4.0
+    commands: Commands = Commands(
+        velocity=VelocityCommandCfg(
+            lower=np.array([1.0, -0, -0], dtype=np.float32),
+            upper=np.array([1.0, 0, 0], dtype=np.float32),
+            standing_probability=0.1,
+            resampling_seconds_range=(5.0, 10.0),
+        )
+    )
+
+    # CyberDog2 keeps its own IMU sensor names; remap them to the task's
+    # source-independent sensor roles instead of renaming the model sensors.
+    sensor: Sensor = Sensor(
+        gyro="imu_ang_vel",
+        local_linvel="imu_lin_vel",
+    )
+
+    randomization: QuadrupedWalkRandomizationCfg = QuadrupedWalkRandomizationCfg(
+        enabled=True,
+        joint_pos_noise=0.03,
+        joint_vel_noise=0.1,
+        base_lin_vel_noise=(0.1, 0.1, 0.0),
+        base_ang_vel_noise=(0.1, 0.1, 0.1),
+        action_delay_steps=(0, 1),
+        kp_scale_range=(0.9, 1.1),
+        damping_scale_range=(0.9, 1.1),
+        sliding_friction_range=(0.4, 0.9),
+        base_mass_scale_range=(0.9, 1.1),
+        base_com_offset_noise=(0.01, 0.01, 0.005),
+    )
+
+    scene: QuadrupedSceneCfg = QuadrupedSceneCfg(
+        objs=StandardSceneObjsCfg(
+            floor=FlatTerrainCfg(
+                material="mat_ground",
+                friction=(0.6, 0.005, 0.0001),
+            ),
+            robot=Cyberdog2Robot(),
+        ),
+    )
+    reward_config: RewardConfig = RewardConfig(
+        scales=RewardScales(
+            similar_to_default=-1,
+        ),
+        tracking_ang_vel_sigma=0.05,
+        target_foot_height=0.05,
+        base_height_target=0.35,
+    )
+
+    def for_play(self) -> "Cyberdog2WalkCfg":
+        """Return a deterministic Cyberdog2 evaluation config."""
+
+        cfg = super().for_play()
+        return replace(cfg, noise_config=replace(cfg.noise_config, level=0.0))
+
+
+registry.env("cyberdog2-walk-flat")(QuadrupedWalkTask)

motrix_robots/src/motrix_robots/__init__.py

@@ -10,6 +10,7 @@
 
 from motrix_robots.anymal import AnymalC
 from motrix_robots.booster import BoosterK1
+from motrix_robots.cyberdog2 import Cyberdog2Robot
 from motrix_robots.dex_evt import DexEvt
 from motrix_robots.humanoid import HumanoidRobotCfg
 from motrix_robots.microduck import Microduck
@@ -28,4 +29,5 @@
     "UnitreeG129Dof",
     "UnitreeGo1Robot",
     "UnitreeGo2Robot",
+    "Cyberdog2Robot",
 ]