Software & Simulation
ROS2, MuJoCo, Isaac Sim — control, simulation, and sim-to-real
URDF & Model
Modular XACRO-based URDF with complete kinematic and dynamic models. Full access to CAD, manufacturing data, and simulation assets.
ROS2 Integration
Native ROS2 support for control, state publishing, and sensor integration. Real-time gravity compensation, impedance control, and force control. Bilateral teleoperation with force feedback for human-in-the-loop demonstrations.
Simulation
MuJoCo — Calibrated models mirror kinematics, dynamics, and actuation limits. Identical state definitions and action spaces for sim-to-real transfer.
Isaac Sim — Full support for GPU-accelerated simulation and synthetic data generation.
Sim-to-Real Alignment
Simulation and real-world data share consistent state definitions and action spaces, enabling mixed-domain training, cross-validation, and policy transfer.
Control Modes — Position, velocity, impedance, force. Gravity compensation. Bilateral teleoperation with force feedback.