Jumping spiders (Salticidae) leap several body lengths with remarkable accuracy, powered by fast leg extension and steadied by a silk dragline. In BRT the spider has a cephalothorax, an abdomen and eight legs with seven segments each; body and leg dimensions, joint ranges and the optional dragline are set in the morphology specification.
Drag to orbit, right-drag or shift-drag to pan, scroll to zoom. Physics runs in your browser with the official MuJoCo WebAssembly build.
The default spider (1:10 scale) on the jumping_spider/long_jump track, running the open-loop
jump from examples/scripted_jump.py: it crouches with its abdomen and front legs raised, pushes off
with legs III and IV, flies for about 0.4 s with an apex of 0.23 m, and lands upright about
0.47 m (3.6 body lengths) further. The simulation restarts every two seconds. The controller is a fixed
script, not a trained policy.
jumping_spider/long_jump: jump as far as possible along a track.jumping_spider/directed_jump: jump towards a target at a random distance and elevation.jumping_spider/platform_jump: jump across a gap of random width onto the end platform.Read the jumping spider README for the biology, the morphology specification and the observation and action spaces.