Series
Building a small companion robot in public, from MuJoCo simulation to hardware. Measured results only.
November 6, 2026 · 12 min read
Day 2 of the Mochi Sprout project: a reusable scalar PID controller drives a MuJoCo pendulum through a +30° step. P and PI oscillated and never settled, PD kept a gravity offset, and only PID settled — 3.630 s after the step, final-window MAE 0.313°. Simulation only: no hardware, no walking, no learned policy.
November 6, 2026 · 10 min read
Day 1 of the Mochi Sprout project: a reproducible MuJoCo pendulum experiment. Same initial state, two gravity values, 21 recorded samples each — and a measured 0.909 rad maximum angle difference. No walking, no controller, no hardware yet.