Rainbow Robotics · stand-hold-v2 · 2026-10-11

Rainbow RB-Y1

Open Rainbow Robotics RB-Y1 in the tab ▸

Run

Verdict: pass
CoM start: 0.546 m
CoM min: 0.541 m (99.1%)
CoM end: 0.542 m (99.4%)
Base z start / min / end: 0.003 / -0.002 / -0.000 m
Base drift: -0.3 cm
Max tilt: 0.1°
Completed 10 s: yes
Diverged: no
Real-time factor: 25.88× (0.4 s wall)
Load: 717 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: google-deepmind/mujoco_menagerie/rainbow_robotics_rby1
Commit: c96a32d28fb5da84da38c1da4d749e7a13212855
Entry: scene_rby1a_1.2.xml
License: Apache-2.0
Size: 17.3 MB
Mass: 128.72 kg
Actuators: 26
Timestep: 0.002 s
Keyframe: hs_stand
Balance joints: 0
Runtime flags: none
Meshes: as published
Loader changes: stand keyframe computed (hs_stand)

Reproduce this row

pnpm --filter @hs/engine engine coach --only rainbow_rby1