EngineAI PM01

Run

Verdict

pass

CoM start

0.735 m

CoM min

0.723 m (98.5%)

CoM end

0.725 m (98.7%)

Base z start / min / end

0.820 / 0.809 / 0.810 m

Base drift

-0.9 cm

Max tilt

9.6°

Completed 10 s

yes

Diverged

no

Real-time factor

18.03× (0.6 s wall)

Load

3871 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

engineai-robotics/engineai_ros2_workspace/src/simulation/mujoco/assets/resource/robot/pm_v2

Commit

c41043f64ca1d308be187ebdcc2eaae40884f59c

Entry

xml/serial_pm_v2.xml

License

BSD-3-Clause

Size

67.3 MB

Mass

40.92 kg

Actuators

24

Timestep

0.002 s

Keyframe

floating_base_homing

Balance joints

2

Runtime flags

none

Meshes

as published

Loader changes

none

Reproduce this row

pnpm --filter @hs/engine engine coach --only engineai_pm01