Stride - Wheeled Humanoid: Mujoco Sim

Following the earlier simulation work, the full wheeled-biped form of Stride is now running in MuJoCo. The entire C++ controller was successfully ported to Python, and—remarkably—no re-tuning was required. The same parameters tuned on hardware carried over directly into simulation.

The simulation currently runs close to real time with the visualizer enabled, and a little over twice real time without it. Since the main purpose of this first version was to validate the model, there’s still plenty of room for optimization and speed improvements down the line.