Pollen Reachy 2

Run

Verdict

pass

CoM start

0.411 m

CoM min

0.410 m (99.7%)

CoM end

0.413 m (100.3%)

Base z start / min / end

0.003 / -0.002 / -0.000 m

Base drift

-0.3 cm

Max tilt

0.0°

Completed 10 s

yes

Diverged

no

Real-time factor

10.03× (1 s wall)

Load

926 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

pollen-robotics/reachy2_mujoco/reachy2_mujoco/description/mjcf

Commit

f6d8284e812d3b96b557e2e844d55bd09d6e3ee6

Entry

test_scene.xml

License

Apache-2.0

Size

19.0 MB

Mass

51.44 kg

Actuators

25

Timestep

0.002 s

Keyframe

hs_stand

Balance joints

3

Runtime flags

none

Meshes

as published

Loader changes

• 1 upstream path fix applied
• stand keyframe computed (hs_stand)

Reproduce this row

pnpm --filter @hs/engine engine coach --only pollen_reachy2