PAL Kangaroo

Run

Verdict

pass

CoM start

0.883 m

CoM min

0.832 m (94.2%)

CoM end

0.838 m (94.9%)

Base z start / min / end

0.913 / 0.859 / 0.864 m

Base drift

-4.9 cm

Max tilt

1.3°

Completed 10 s

yes

Diverged

no

Real-time factor

2.63× (3.8 s wall)

Load

2755 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

pal-robotics/kangaroo_simulation/kangaroo_mujoco/models

Commit

3bc51f8782fad252a9e9e6212ec985c7c96fd574

Entry

mjcf_data_floating_4dof_no-end-effector_no-end-effector_fixed/scene_empty.xml

License

Apache-2.0

Size

28.9 MB

Mass

60.22 kg

Actuators

22

Timestep

0.0005 s

Keyframe

home

Balance joints

0

Runtime flags

none

Meshes

as published

Loader changes

• 1 upstream path fix applied
• stand keyframe base height corrected by 1.3 cm to touch the floor

Reproduce this row

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