Microduck

Name: Microduck
Brand: Pollen Robotics
SKU: em-mduck001

by Pollen Robotics

This embodiment is supported in Neurorobotics Studio, and its MuJoCo model is not included. Obtain the model from its publisher, then add it in FEAGI Desktop: Embodiment Explorer, MuJoCo, Add local model. The model stays on your computer. Setup steps are below.

Microduck is a small bipedal robot from Pollen Robotics, about 800 g and 25 cm tall. Neurorobotics Studio supports it in MuJoCo. The simulator model is not included with this embodiment: download it from Pollen Robotics and add it locally in FEAGI Desktop. The model stays on your computer.

Specifications

Manufacturer: Pollen Robotics
Type: Bipedal Robot
Environment: Simulated
Category: MuJoCo Physics Simulator
Controller: MuJoCo
Sensors: Joint position
Joint velocity
Actuators: Position servo
Connectivity: ZMQ
Local

Getting started

Microduck: bring your own MuJoCo model

Neurorobotics Studio supports Microduck. This embodiment does not include the MuJoCo model.

Pollen Robotics publishes the MJCF descriptions under the Apache License 2.0 and the mesh files under CC BY-NC-SA 4.0. Neurorobotics Studio does not redistribute those files. You download them and add the model on this computer.

Get the model

Clone the model repository: https://github.com/pollen-robotics/microduck_rl
Use the entry file src/mjlab_microduck/robot/microduck/scene.xml.
Leave that file in place. It includes other XML files and the mesh files next to it. Moving only scene.xml will not load.

Other scene_*.xml files in that same folder are task-specific scenes. Start with scene.xml.

Add it in FEAGI Desktop

Open Embodiment Explorer.
Open the MuJoCo category.
Select Add local model.
Choose scene.xml from the cloned repository.
The model stays on this computer. It is not uploaded to Neurorobotics Studio.

When you start Add local model from the Microduck entry, Desktop names that local model Microduck.

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