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MouseMouse

lucen/laika

Train a policyConnect a robot
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Laika v2 — 12-DoF bipedal legs, RobStride quasi-direct-drive actuators, 9.792 kg. MJCF + robot card.

biped12 joints50 Hz9.79 kginterface17 filesdigests all verified by the hubbipedleggedmujocorobstridelaikaadded
Laika v2 standing in its home keyframe
Rendered from the MJCF laika_v2_mjcf.xmlOpen in the Sim tab

README

README.md

Laika v2

Reference robot for MouseMouse: a 12-DoF bipedal leg platform built around RobStride quasi-direct-drive actuators, 9.792 kg, two CAN buses (one per leg).

This repo carries the robot card (DOF, actuator groups, per-joint limits) and the MuJoCo model used for sim2sim gating and for rollout rendering.

FileWhat
laika_v2_mjcf.xmlMuJoCo model — 13 meshes, radian angles, meshdir=meshes/
meshes/*.stlLink geometry referenced by the model

The card below is generated from the robot's own robot.yaml, so joint signs, offsets and torque limits stay in one place rather than being copied by hand.

Using it

lucen pull lucen/laika            # MJCF + meshes
lucen rollout lucen/laika-stand-v1b --robot lucen/laika --battery smoke --local

lucen/laika-stand-v1b is the standing policy in service on this robot (make import-lucen publishes the policies the robot runs).

Policies

Nothing trained for this robot yet. Train a policy, or from a shell:

lucen runs create \
  --template ppo_mujoco \
  --robot lucen/laika \
  --executor worker