Fourier GR2

Run

Verdict

pass

CoM start

0.607 m

CoM min

0.603 m (99.4%)

CoM end

0.604 m (99.5%)

Base z start / min / end

0.667 / 0.663 / 0.664 m

Base drift

-0.3 cm

Max tilt

0.3°

Completed 10 s

yes

Diverged

no

Real-time factor

23.23× (0.4 s wall)

Load

614 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

FFTAI/Wiki-GRx-MJCF/models/GR2

Commit

11da5a77d366eaeba52d83cc2c92ea61a29a487f

Entry

scene/scene.xml

License

Apache-2.0

Size

9.9 MB

Mass

39.73 kg

Actuators

23

Timestep

0.002 s

Keyframe

home

Balance joints

4

Runtime flags

none

Meshes

as published

Loader changes

• 4 mesh files not loaded (camera_link.STL, imu_link.STL, left_end_effector_link.STL…)
• stand keyframe base height corrected by 66.7 cm to touch the floor

Reproduce this row

pnpm --filter @hs/engine engine coach --only fourier_gr2