Apptronik Apollo

Run

Verdict

pass

CoM start

0.882 m

CoM min

0.869 m (98.5%)

CoM end

0.871 m (98.8%)

Base z start / min / end

1.016 / 1.002 / 1.006 m

Base drift

-1.0 cm

Max tilt

1.5°

Completed 10 s

yes

Diverged

no

Real-time factor

55.48× (0.2 s wall)

Load

2977 ms

Runs the full 10 s without a physics reset, the centre of mass never drops below 80% of its start height, and it ends within 10% of the start. Base drift is reported alongside.

Model

Repo

google-deepmind/mujoco_menagerie/apptronik_apollo

Commit

c96a32d28fb5da84da38c1da4d749e7a13212855

Entry

scene.xml

License

Apache-2.0

Size

71.2 MB

Mass

80.9 kg

Actuators

32

Timestep

0.005 s

Keyframe

stand

Balance joints

4

Runtime flags

none

Meshes

as published

Reproduce this row

pnpm --filter @hs/engine engine coach --only apptronik_apollo