Marope: Dual Humanoid Multi-Agent Rope Turning & Synchronization Simulator

PHASE LOCK: ±1.8° (HARMONIC)

MARL JUMP SCORE: 0 Jumps CLEARANCE: 0.42 m

Presets:

Active Jumper Agent AUTO ACTIVE

Autonomous Jumper MARL Auto-Timing

MARL Coordination Mode

Decentralized + Phase Sync PROPOSED

Individual policies with learned phase consensus and dynamic torque compensation.

Centralized Rhythm Beacon

Fixed BPM frequency beacon broadcast from single controller.

Naive Open-Loop Drive

No inter-agent communication. Phase drifts rapidly under load variance.

Dual Arm Phase Difference (Δθ) 0.0°

Kinematic Telemetry

G1 Left Torque 18.4 N·m

G1 Right Torque 18.2 N·m

Rope Apex Speed 3.82 m/s

Catenary Tension 24.1 N

System Parameters

Turning Frequency (Rhythm) 72 BPM

Rope Length / Slack 4.2 m (16 Segments)

Motor Torque Limit 35 N·m

Jumper Timing Jitter ±12%