GAP FOUND
Candidate current endpoints do not yet close the prescribed gait.
1.78×
Worst peak demand divided by the current-limited linear endpoint.
4
Unique rotary axes above a candidate endpoint in at least one sequence.
Whole-body axis envelope
| Axis | Peak inverse demand | Current endpoint | Demand ratio | 1.25× sizing ratio | Finding |
|---|---|---|---|---|---|
| R_HIP_PITCH WS-R01 | 11.46 N·m | 6.44 N·m | 1.78× | 3.34:1 | EXCEEDS CANDIDATE CURRENT ENDPOINT |
| L_HIP_PITCH WS-L01 | 11.45 N·m | 6.44 N·m | 1.78× | 3.34:1 | EXCEEDS CANDIDATE CURRENT ENDPOINT |
| R_HIP_ROLL WS-L01 | 12.75 N·m | 8.58 N·m | 1.49× | 3.71:1 | EXCEEDS CANDIDATE CURRENT ENDPOINT |
| L_HIP_ROLL WS-R01 | 12.74 N·m | 8.58 N·m | 1.48× | 3.71:1 | EXCEEDS CANDIDATE CURRENT ENDPOINT |
| R_ANKLE_PITCH WS-L01 | 6.38 N·m | 7.57 N·m | 0.84× | 2.63:1 | WITHIN CURRENT ENDPOINT |
| L_ANKLE_PITCH WS-L01 | 6.38 N·m | 7.57 N·m | 0.84× | 2.63:1 | WITHIN CURRENT ENDPOINT |
| R_KNEE_PITCH WS-R01 | 8.69 N·m | 10.73 N·m | 0.81× | 2.53:1 | WITHIN CURRENT ENDPOINT |
| L_KNEE_PITCH WS-L01 | 8.68 N·m | 10.73 N·m | 0.81× | 2.53:1 | WITHIN CURRENT ENDPOINT |
| L_SHOULDER_ROLL WS-L01 | 0.40 N·m | 4.54 N·m | 0.09× | 1.50:1 | WITHIN CURRENT ENDPOINT |
| R_SHOULDER_ROLL WS-R01 | 0.39 N·m | 4.54 N·m | 0.09× | 1.50:1 | WITHIN CURRENT ENDPOINT |
| L_SHOULDER_PITCH WS-L01 | 0.38 N·m | 4.54 N·m | 0.08× | 1.50:1 | WITHIN CURRENT ENDPOINT |
| R_SHOULDER_PITCH WS-R01 | 0.38 N·m | 4.54 N·m | 0.08× | 1.50:1 | WITHIN CURRENT ENDPOINT |
| HEAD_TILT WS-L01 | 0.05 N·m | 0.80 N·m | 0.06× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| R_HIP_YAW WS-R01 | 0.28 N·m | 5.05 N·m | 0.06× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| L_HIP_YAW WS-L01 | 0.28 N·m | 5.05 N·m | 0.06× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| L_ELBOW_PITCH WS-L01 | 0.18 N·m | 3.56 N·m | 0.05× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| R_ELBOW_PITCH WS-R01 | 0.18 N·m | 3.56 N·m | 0.05× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| R_ANKLE_ROLL WS-L01 | 0.21 N·m | 6.06 N·m | 0.03× | 2.00:1 | WITHIN CURRENT ENDPOINT |
| L_ANKLE_ROLL WS-L01 | 0.21 N·m | 6.06 N·m | 0.03× | 2.00:1 | WITHIN CURRENT ENDPOINT |
| R_WRIST_ROTATION WS-R01 | 0.00 N·m | 0.80 N·m | 0.00× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| WAIST_YAW WS-R01 | 0.02 N·m | 6.02 N·m | 0.00× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| L_WRIST_ROTATION WS-L01 | 0.00 N·m | 0.80 N·m | 0.00× | 1.00:1 | WITHIN CURRENT ENDPOINT |
| HEAD_PAN WS-L01 | 0.00 N·m | 0.80 N·m | 0.00× | 1.00:1 | WITHIN CURRENT ENDPOINT |
What this changes
The derived ratio is a sizing direction, not a released transmission. It must be reconciled with packaging, belt capacity, backlash, reflected inertia, output speed, motor torque-speed behavior, efficiency, electrical current and heat. The contact-enabled inverse is also specific to MuJoCo's soft-contact and ideal-fixture assumptions.
Evidence downloads
23-axis envelope · both sequence results · all 24,702 rotary-axis samples · sequence summary · method provenance · open holds