Booster K1

Run

Verdict

pass

CoM start

0.484 m

CoM min

0.481 m (99.3%)

CoM end

0.481 m (99.4%)

Base z start / min / end

0.555 / 0.551 / 0.552 m

Base drift

-0.3 cm

Max tilt

0.0°

Completed 10 s

yes

Diverged

no

Real-time factor

13.06× (0.8 s wall)

Load

789 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

BoosterRobotics/booster_assets/robots/K1

Commit

12a97516f57469078707afb587a5f84c1cb110d1

Entry

K1_22dof.xml

License

BSD-3-Clause

Size

12.0 MB

Mass

19.67 kg

Actuators

22

Timestep

0.001 s

Keyframe

hs_stand

Balance joints

4

Runtime flags

none

Meshes

as published

Loader changes

• stand keyframe computed (hs_stand)

Reproduce this row

pnpm --filter @hs/engine engine coach --only booster_k1