Fourier GR1-T1

Run

Verdict

pass

CoM start

0.846 m

CoM min

0.841 m (99.4%)

CoM end

0.842 m (99.6%)

Base z start / min / end

0.956 / 0.951 / 0.952 m

Base drift

-0.4 cm

Max tilt

0.7°

Completed 10 s

yes

Diverged

no

Real-time factor

18.36× (0.5 s wall)

Load

980 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

FFTAI/Wiki-GRx-MJCF/models/mujoco_menagerie/fourier_intelligence_gr1t1

Commit

48dc081997de8dd850e8ec9eb2e7ae456606ef24

Entry

gr1t1.xml

License

Apache-2.0

Size

16.6 MB

Mass

53.48 kg

Actuators

32

Timestep

0.002 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 fourier_gr1t1