Agility Cassie

Run

Verdict

fell

CoM start

0.877 m

CoM min

0.149 m (17.0%)

CoM end

0.149 m (17.0%)

Base z start / min / end

1.006 / 0.156 / 0.158 m

Base drift

-84.8 cm

Max tilt

88.3°

Completed 10 s

yes

Diverged

no

Real-time factor

8.94× (1.1 s wall)

Load

457 ms

The centre of mass drops below 60% of its start height at any point, or the physics diverges (NaN / auto-reset). Heights use the whole-body centre of mass because some models put the base origin near the floor.

Model

Repo

google-deepmind/mujoco_menagerie/agility_cassie

Commit

c96a32d28fb5da84da38c1da4d749e7a13212855

Entry

scene.xml

License

MIT

Size

5.2 MB

Mass

33.31 kg

Actuators

10

Timestep

0.0005 s

Keyframe

home

Balance joints

2

Runtime flags

none

Meshes

as published

Reproduce this row

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