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Free-Base Keeper - Unitree G1 Scripted MuJoCo Goalkeeper
Shared by Steve PederzaniOzmium
Policy + simulator
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OzmiumAbout this project
Trained simulated MicroDuck sprint policy (MuJoCo): a 5 m dash with every joint clipped to the XL330 servo's real 1.75 A current limit, 50 Hz, 40 ms actuator delay, sensor noise, domain randomization. Fastest of 240 seeded runs: 5.00 m in 3.55 s, then a commanded brake and a fall, all closed-loop, nothing keyframed. The Flash costume is zero-mass paint, verified by script. Simulation only; not validated on hardware.
- Environment
- MuJoCo
- Robot
- Microduck
- Includes
- Policy + simulator
Results & safety
No real-world test yet
No safety screening or hardware test has been recorded for this project. Review the requirements before running on hardware.
Get started
Download the project files to explore, reproduce, or build on this work. Inspect the builder’s code before running it in your environment.
Ozmium.zip · SHA-256 ac3e50d03cbe20a1b9cd1437f02b75b007bc2f31b0a0ababb2be02024e05c477What’s included
Policy + simulator · Result video · Project ZIP
Refer to the builder’s project documentation for setup instructions.
Evaluation details
No evaluation has been recorded. A shared video does not establish benchmark performance or hardware readiness.
Limitations
This project is shared by its builder. Simulation results do not establish real-world safety. Review the source, dependencies, licensing, and hardware requirements before use.
Files & contents
Ozmium.zip · 8.8 MB
SHA-256 ac3e50d03cbe20a1b9cd1437f02b75b007bc2f31b0a0ababb2be02024e05c477
result.mp4 · MP4