Solo-12 MuJoCo Model

Hi all,

I’m building a Solo-12 at home as a way of learning about locomotion, dynamical systems and control.

Since I’m not yet close to having a walking robot, I wanted to have a feel for how the robot will look and behave. I’ve created a MuJoCo model with visuals (exported from Solidworks and optimized for performance):

I’m planning to use the model to reproduce various control schemes for learning, alongside building the hardware. I’m also posting here as people might find it useful:

Feel free to reply to this post with a screenshot or a video if you’ve used the model for something interesting!