[asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
[dense-reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-yes-green.svg
[no-dense-reward-badge]: https://img.shields.io/badge/dense%20reward-no-red.svg
[no-sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-no-red.svg
[demos-badge]: https://img.shields.io/badge/demos-yes-green.svg
# Quadruped Tasks
These are tasks where a quadruped robot is used for locomotion and/or manipulation. This cateogry primarily uses robots with four legs like the ANYmal or Unitree go robots.
The document here has both a high-level overview/list of all tasks in a table as well as detailed task cards with video demonstrations after.
## Task Table
Table of all tasks/environments in this category. Task column is the environment ID, Preview is a thumbnail pair of the first and last frames of an example success demonstration. Max steps is the task's default max episode steps, generally tuned for RL workflows.
## AnymalC-Reach-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
![demos][demos-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Control the AnymalC robot to reach a target location in front of it. Note the current reward function works but more needs to be added to constrain the learned quadruped gait looks more natural
**Randomizations:**
- Robot is initialized in a stable rest/standing position
- The goal for the robot to reach is initialized 2.5 +/- 0.5 meters in front, and +/- 1 meters to either side
**Success Conditions:**
- If the robot position is within 0.35 meters of the goal
**Fail Conditions:**
- If the robot has fallen over, which is considered True when the main body (the center part) hits the ground
**Goal Specification:**
- The 2D goal position in the XY-plane
:::
## AnymalC-Spin-v1
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
Control the AnymalC robot to spin around in place as fast as possible and is rewarded by its angular velocity.
**Randomizations:**
- Robot is initialized in a stable rest/standing position
**Fail Conditions:**
- If the robot has fallen over, which is considered True when the main body (the center part) hits the ground
:::
