Embodiment Arena v0.9.6

Embodiment Arena · v0.9.6NOT BOOTED

Staged robots only · one shared MuJoCo world

ready

Microduck—Upkie—Bittle X V1—Unitree G1pending modelQuaddleawaiting sourceSelected cmdvx 0.00 · wz 0.00Gateawaiting bootScale1 unit = 1 m · awaiting modelTelemetryawaiting model

PETOI QUADDLE · sim-to-real candidate

Quaddle not booted · source and physics status pending.

Official Petoi URDF hierarchy and mass properties. Leg as built (Petoi's MinDoF): the servo turns the motor arm, which carries the thigh only at the stoppers of the thigh's socket (free play measured from the official meshes) and pushes and pulls the spring that turns the lower leg; crossing the gap lifts the foot. Spring tension and servo are estimates, not Petoi data. The wheel housing swings between the stops of the official parts; contact shapes from the official STLs. Common MuJoCo world, not an animation-only stand-in.

Configuration

Buddy/Scout entries record variant intent only; no unverified sensors or control modes are claimed installed.

Motion

Feet Leg Spring tension W key

Feet as Petoi built them (official meshes): a foot carrying weight grips on its tip, a foot that only skims the floor rolls on its wheel. Moves are tuned for this Arena model, not Petoi's skill tables (not public); sidestep, glide and flips are not reproduced.

Manual joint offsets (radians, applied only in HOLD mode):

Include 106 MB spring STL files (slow; disabled by default)

Not booted.

Reference: https://huggingface.co/petoi/quaddle · model MIT licensed. Robot geometry obtained from official STL files; physical collisions and gait are provisional pending comparison with a real Quaddle.

SHARED WORLD

TypeX (m)Y (m)Width (m)Depth (m)Height (m)Yaw (deg)

Connected parkour hall occupies x = 3 to 33 m. Its colored course blocks are persistent physical MuJoCo fixtures, separate from the editable objects below. Open floor: no invisible boundary walls. Ramp uses a rotated MuJoCo BOX primitive (not a mesh): Width = horizontal run, Depth = cross-slope width, Height = rise. Physical edits are staged until APPLY / REBUILD. One shared MuJoCo world remains authoritative.

CONTACT TEST: BOOT ALL 3 → add one Block → APPLY / REBUILD. You do not need to move the camera or drive a robot. The magenta text box will persist with BLOCK CONTACT, FELL THROUGH BLOCK, or TEST ERROR.

MODEL / RECEIPT INSPECTOR

StatusBoot the Arena to inspect the compiled model.

Model receipt

Source/compiled parity not checked yet.

Run receipt

No run recorded.

This panel reports what the running model actually contains. Visual meshes are presentation; collision geometry and MuJoCo state remain authoritative. Source URLs and source-text SHA-256 hashes are included after boot.

VISUAL = remote upstream appearance meshes when loaded (G1 colliders otherwise) · COLLISION = compiled MuJoCo contact geometry

PROBE: awaiting world rebuild

G1 SETUP - not balanced

Select G1 to load, prime and release. Hold forward on the joystick to move.

G1 DEPTH

Processed image · neural input

Awaiting sensor frames

G1 test diagnostics (saved until page closes)

No PHP events yet.

G1 · awaiting boot

Robots in this session

PETOI QUADDLE · sim-to-real candidate

SHARED WORLD

MODEL / RECEIPT INSPECTOR