LeggedAI Weekly Meeting
Kunzhao Ren
rkzdtc@gmail.com | +1 608 590 6494
Madison, WI
Legged Robots | MPC | RL | WBC | RWM
Overview
- Rigid Ground
- Go2 Hop
- Go2 Sideflip
- Go2 Jump on Table
- Built-in Deformable Utilities in Simulator
Go2 Hop on Rigid Ground
HW - My_unitree_go2_gym
Training - mjlab
Go2 Sideflip on Rigid Ground
TO - se3_trajopt
Training - mjlab
Deploy - mujoco
Go2 Jump on Table
DIAL-MPC
TO - se3_trajopt
Physics Simulation Stack: Core Concepts and Roles
| Name | Category | Role |
|---|---|---|
| Warp | Compute framework | GPU-oriented Python framework for writing simulation and geometry kernels |
| JAX | Compute framework | Array computing and autodiff framework for accelerated numerical computation |
| MuJoCo | Physics engine | General-purpose robot dynamics and contact simulator |
| PhysX | Physics engine | NVIDIA physics engine used for real-time and GPU-accelerated simulation |
| Newton | Physics engine | New robot-focused physics engine built on Warp |
| MJX | Acceleration interface | MuJoCo acceleration API/front-end for batch and accelerator-based simulation |
| MJWarp | Engine implementation | Warp-based GPU implementation of MuJoCo-style simulation |
| Isaac Gym | Simulation application | RL-oriented GPU simulation environment |
| Isaac Sim | Simulation platform | Full robotics simulation platform with scenes, sensors, and multiple backends |
Built-in Deformable Utilities in Simulator
MuJoCo: Point-Mass Network, Flexible Edges, a Collidable Surface
MJWarp: Point-Mass Network, Flexible Edges
Newton: Point-Mass Network, Flexible Edges
Isaac Sim: FEM-based, collision mesh, simulation mesh
meeting