Right 40 mm single-step candidate
10.720 s · 537 samples · minimum modeled support margin 22.3 mm · final placement 40.0 mm.
Interactive whole-body sequence
0.00 s
time
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COM support margin
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swing clearance
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foot placement
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declared contact
Front
Side
Sequence inventory
Left 40 mm single-step candidate
10.720 s · 537 samples · minimum modeled support margin 23.5 mm · final placement 40.0 mm.
Inspect the articulated source model
Machine-readable handoff
sequence register · keyframes · 50 Hz base/COM/contact samples · 25-axis positions, velocities and accelerations · loadable tether MJCF keyframes · preview data
The CSV and MJCF artifacts are simulator inputs only. They are intentionally not encoded as DYNAMIXEL packets, firmware commands, ROS control messages, or actuator IDs.
What this does not prove
Minimum-jerk interpolation and a positive projected-COM margin do not prove balance, contact force, zero-moment point, capture point, actuator capacity, current demand, thermal performance, floor contact, foot friction, backlash, compliance, tracking, collision clearance, restraint behavior, stopping distance, or recovery. The robot may not execute these trajectories until physical characterization and qualified release close the corresponding gates.