Simulate before you begin: validate walking policies with a toy model before CAD
IgorCarron · x · 2026-10-15
A "Agentic CAD: Simulate before you begin" workflow: train walking policies on a simple boxes-and-capsules model built from your robot spec before starting detailed CAD, catching gait-breaking link lengths or motor layouts early. The simple model takes minutes to modify and answers design questions via RL/simulation — the author used it to pick stance knee angle, joint limits, and knee direction, froze those into the spec, built CAD to match, then retrained on the detailed model to confirm.
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