γ₀ — Interactive Playground

Interactive Playground

Starting the simulator

Initializing…

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Robot

All robots

Forward 0.00 m/s

Lateral 0.00 m/s

Vertical 0.00 m/s

Turn 0.00 rad/s

Embodiment & Domain randomization

Multiple robot variations

Number robots: 1

Robot and environment variation

Overall variation: 1.00

Robot body & specifications

Fine-tune robot variation

Body size 100%

Mass & inertia 100%

Body geometry & center of mass 100%

Joint mechanics 100%

Actuator strength & response 100%

Hidden hardware variation Contact & environment physics Starting pose & motion Joint failures Control latency

Runtime perturbations

External disturbances Sensor noise

Ground

Surface roughness: 0.30

Policy

Built-in policy

Upload a checkpoint

⬆

Drop a .model file here, or

Test your robot

⬆

Drop a robot folder here, or

Conversion and preview run locally in your browser. No files are stored or uploaded.

Skip conversion

Structural checks

Select your robot files to run the checks.

How to contribute

Help us build a foundation motion policy that transfers across robots on the ground and in the air, with wheels, legs or rotors, supported by the largest open-source robot collection.

We have two ways for you to get involved!

We’ll publish the policy and robot collection shortly after.

Contribute your robot model

Share a valid URDF for a real-world robot that we can simulate with MuJoCo, including meshes, inertial parameters, joint limits, and actuator torque and velocity limits. Accepted models will become part of the open-source collection, and contributors will be cited or acknowledged. We welcome legged robots, wheeled robots, manipulators and drones. Standalone robot hands are outside the scope of this collection.

Train and deploy with us

Collaborate with us to extend the training pipeline and deploy γ₀ on new hardware. Contributions spanning both training and real-world deployment may qualify for authorship.