TonyPi simulator in MuJoCo

Development Discussion
1

I built a simulation of TonyPi in MuJoCo. Here is a video comparing sim to real. These play the .d6a (Action Group) files on TonyPi and then on the simulator. https://www.youtube.com/watch?v=VVifUPAAEM0

Python files and models are on Github and can be used develop controllers without relying on hardware: GitHub - pab47/TonyPi: This is a repositary for simulation/hardware code for Hiwonder humanoid TonyPi · GitHub

2

Amazing work !!!

3

Do you have any idea of your next project ?

4

yes, just added a walking and standing balance using IK: https://youtu.be/xbgYgt3ijhk

5

Added inverse kinematics using mink (mujoco + inverse kinematics) and used that for creating statically balanced standing on one leg and walking poses, saved .d6a files, and played on hardware.

Video: