Booster T1 12-DoF

Run

Verdict

pass

CoM start

0.616 m

CoM min

0.584 m (94.8%)

CoM end

0.588 m (95.6%)

Base z start / min / end

0.700 / 0.668 / 0.673 m

Base drift

-2.7 cm

Max tilt

0.3°

Completed 10 s

yes

Diverged

no

Real-time factor

51.81× (0.2 s wall)

Load

385 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_gym/resources/T1

Commit

da396a06d6eed99e2de72d7749c48ee8748950f9

Entry

T1_locomotion.xml

License

Apache-2.0

Size

8.4 MB

Mass

31.61 kg

Actuators

12

Timestep

0.002 s

Keyframe

qpos0

Balance joints

4

Runtime flags

none

Meshes

as published

Reproduce this row

pnpm --filter @hs/engine engine coach --only booster_t1_gym