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27 days ago
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Add robustness sweeps with MuJoCo Warp
Chandra KiranUnverified signaturePOST /simulate/sweep runs a scene (from a run, a generation, or raw MJCF) as up to 256 copies at once, each with its own friction, object masses, joint noise and a push on the robot, and reports how many fell. MuJoCo Warp runs all worlds on the GPU; without CUDA the same randomization runs in plain MuJoCo, and results agree within a millimetre. Models using contact features Warp lacks (the Go2's 1 mm margins) are adapted and the report says so. The report plots push against friction for every world. CI runs both engines inside the worker image.a7dddb6