Very similar to the former simulation post, the full wheeled biped form of Stride is now simulated in Mujoco. The full C++ controller was ported to Python and no re-tuning of the simulation was needed from the hardware tuned controllers.

A few limitations exist in my current version of the simulator. Most notably:

• Pure torque control is not supported so impedance control of legs and arms is not supported

  • Dancing, stepping, and jumping are commented out for now as a result.

The simulation runs close to real time with the visualizer, and a little over double real time without the visualizer. The purpose of this initial sim was to validate the model so there is room for improvement in terms of speed.