Leju Kuavo 4 Pro

Run

Verdict

pass

CoM start

0.904 m

CoM min

0.901 m (99.6%)

CoM end

0.902 m (99.7%)

Base z start / min / end

0.887 / 0.884 / 0.885 m

Base drift

-0.2 cm

Max tilt

1.1°

Completed 10 s

yes

Diverged

no

Real-time factor

14.62× (0.7 s wall)

Load

1228 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

LejuRobotics/Leju-GMR/assets/kuavo_s45

Commit

c77dc2e08d7895878e5ed1277a5f542f7a766257

Entry

biped_s45_collision.xml

License

MIT

Size

23.7 MB

Mass

51.71 kg

Actuators

28

Timestep

0.002 s

Keyframe

home

Balance joints

4

Runtime flags

none

Meshes

as published

Loader changes

• 1 upstream path fix applied
• stand keyframe base height corrected by -91.3 cm to touch the floor

Reproduce this row

pnpm --filter @hs/engine engine coach --only leju_kuavo_s45