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 hubbiped legged mujoco robstride laikaadded 3 h ago

Connect a robot

Pair with a code instead

On the robot's computer, signed in to the CLI with your own key (lucen auth login), naming the policy it will accept. It runs only contracts registered this way. Connect your robot is the guide.

lucen-device register --robot lucen/laika --name lab-laika --adapter virtual --accept-from ./policy.onnx

Joints

12, in model order

Base

Floating, starts at 0.38 m

Pose

Declared for 12 joints

Action

Position offset, scale 0.5, clipped to ±1

Actuation

Position servos, kp 12–30, kd 0.6–1.5, 3 groups

Rate

50 Hz, physics at 2 ms

Senses

Base angular velocity, projected gravity, joint position and velocity

Parts

left_leg, right_leg · feet l_ankle_roll_link, r_ankle_roll_link

Command

Planar velocity

l_hip_pitch_joint … r_ankle_roll_joint

l_hip_pitch_joint
l_hip_roll_joint
l_hip_yaw_joint
l_knee_joint
l_ankle_pitch_joint
l_ankle_roll_joint
r_hip_pitch_joint
r_hip_roll_joint
r_hip_yaw_joint
r_knee_joint
r_ankle_pitch_joint
r_ankle_roll_joint

What pairing gives

The robot's key never leaves the robot.
An API key or an agent can ask to run a policy. Only a signed-in person approves.
The robot checks each approval's signature itself, offline.