Humanoid RL Disturbance Recovery Simulator

Physical Stress Canvas (Matter.js 2D Biped) Click/Drag Torso or Click Shove Buttons

CoM Pos X:0.00 m

CoM Vel X:0.00 m/s

Capture Point:0.00 m

Foot Support:[-0.15, 0.15] m

Max Torque:0 / 120 Nm

RoboParty Stress Validation Presets

RL Locomotion Strategy

Control Loop Latency 20 ms

Torque Limit (Nm) 120 Nm

PD Controller Gain (Kp) 85

Damping Ratio (Kd) 12

Phase Space (CoM Position vs Velocity)

Balance Margin

+14.2 cm

Recovery Time

0.82 s

Peak Stress

84.5 Nm

Disturbance Telemetry & Recovery Analysis

[Simulated RL Policy Run] Unitree G1 robot active in Stepping Strategy mode. Latency: 20ms | Torque Saturation: 120Nm. System stable.