A MuJoCo physics simulation running entirely in your browser tab.
Nothing here is streamed from a server doing the work elsewhere. The physics engine, the neural-network policy driving each robot, and the renderer are all downloaded once and then run locally, which is why the robots respond immediately and why the first load of a new robot takes a moment.
Each robot is driven by a policy trained in simulation rather than by scripted animation, so what you see is the controller solving the terrain in front of it. When a robot stumbles on a hill it is failing honestly.
The engine, libraries and robot models below are other people's work, redistributed here under the licences named. 26 sources.
Simulation scenes and the glue that drives the Unitree robots.
Builds the robot's voxel map in your browser, from the dimos robotics project.
The walking controller for the G1, from the dimos robotics project, which distributes it with its simulator.
The walking controller for the Go2, from the dimos robotics project, which distributes it with its simulator.
Unitree robot geometry, redistributed via dimos.
Robot model from the MuJoCo Menagerie collection.
The Bittle model's MJCF structure descends from gravesreid's Bittle task for MuJoCo MPC.
Robot model from the MuJoCo Menagerie collection.
Our own work: the candy-delivery robot, the environments and the terrain generators.
The duck's walking and getting-up controllers, and two that learned when to use each, trained by us on Pollen Robotics' open-duck body.
Kinova Gen3 arm model, part of the TidyBot we ship.
The physics engine, compiled to WebAssembly and run in your tab.
One network that drives both the duck and Bittle, trained by us from the duck's own controller and Petoi's OpenCat gaits.
Runs each robot's neural-network policy in your browser.
The duck's model and its walking policy, from Pollen Robotics' open duck project.
The Bittle's walk, trot, turn and poses: Petoi's own OpenCat skill tables, the same numbers its firmware plays. The sprint is ours, not Petoi's.
PAL Robotics’ TIAGo: a differential-drive base on four casters, carrying a lift, a head and a seven-jointed arm.
The Bittle's body meshes, from Petoi's ros_opencat robot description.
The Bittle's MuJoCo model, with its mass measured off a real Bittle X, by Marc Hesse.
The Robot Soccer Kit's omnidirectional robot: three driven omni wheels, 0.67 kg, and a solenoid kicker.
Robotiq 2F-85 gripper model, part of the TidyBot we ship.
Robot model from the MuJoCo Menagerie collection.
Stanford’s TidyBot: a holonomic base carrying a Kinova arm, parked.
Renders the scene.
Robot model from the MuJoCo Menagerie collection.
Robot model from the MuJoCo Menagerie collection.
Reproduced in full, as each of these licences requires.
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Copyright 2024 Marc Hesse
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