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lucen/laika

Use
Deploy
Train a policy

Laika v2 biped: 12 joints, RobStride actuators. Lucen Robotics' reference robot, as a MuJoCo model and a robot card.

biped12 joints9.79 kg in simulationmotorsRS06 · RS02 · RS0050 Hz

Use it from the command line

Close

Downloads every file and checks each one. A second pull fetches only what changed.

lucen pull lucen/laika ./laika

No CLI yet? Install it.

Laika v2, standing in its home pose

Runs the laika-omni-c4-ff800 policy in your browser. About 11 MB the first time. Open the full simulator

README

README.md

Laika v2

Laika is the bipedal robot Lucen Robotics builds, and the reference robot on MouseMouse. It has 12 joints, driven by RobStride quasi-direct-drive actuators on two CAN buses, one per leg.

This repo holds Laika's robot card and its MuJoCo model. The card lists each joint's limits and actuators. The simulator and the sim tests run the model.

The simulation model weighs 9.79 kg. That is the model's mass, not the weight of the robot as built.

FileWhat
laika_v2_mjcf.xmlThe MuJoCo model, with 13 meshes
meshes/*.stlThe geometry of each part

Use it

lucen pull lucen/laika ./laika
lucen rollout lucen/laika-stand-v1b --robot lucen/laika --battery smoke --local

lucen/laika-stand-v1b is the standing policy Laika runs. The second command tests it in simulation on your own machine.