Poppy Project · stand-hold-v2 · 2026-10-11
Poppy Humanoid
Run
- Verdict
- pass
- CoM start
- 0.492 m
- CoM min
- 0.480 m (97.7%)
- CoM end
- 0.489 m (99.4%)
- Base z start / min / end
- 0.424 / 0.413 / 0.421 m
- Base drift
- -0.3 cm
- Max tilt
- 4.3°
- Completed 10 s
- yes
- Diverged
- no
- Real-time factor
- 18.17× (0.6 s wall)
- Load
- 77 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
- Commit
- d66c8fbd6aa3ebbf9e38399cc56aae3c155ee991
- Entry
- robots/Poppy_Humanoid.URDF
- License
- none
- Size
- 0.2 MB
- Mass
- 2.61 kg
- Actuators
- 25
- Timestep
- 0.002 s
- Keyframe
- hs_stand
- Balance joints
- 4
- Runtime flags
- none
- Meshes
- as published
- Loader changes
- URDF converted by MuJoCo (collision geometry)
- 25 position servos added (model ships no actuators)
- stand keyframe computed (hs_stand)
Reproduce this row
pnpm --filter @hs/engine engine coach --only poppy_humanoid