Whole-Body Humanoid Packing Simulator

Gemini Robotics 2 // Apollo

STABLE BALANCE

Kinematic Arms

CoM Indicator

Support Polygon (Feet)

Center of Mass & ZMP Telemetry PASS

CoM Offset

2.40 cm

Support Base Margin

8.20 cm

Peak Shoulder Torque

88.5 Nm

Task Completion

100%

Whole-Body Kinematic Controls

Payload Mass 4.5 kg

Torso Counter-Tilt 12°

Foot Stance Base Width 38 cm

Actuator Joint Load Ratio

L. Shoulder Joint 62% (86.8 Nm)

R. Shoulder Joint 45% (63.0 Nm)

Hip Pitch Actuator 38% (53.2 Nm)

Trajectory Diagnostic Log

Real-time whole-body balance calculations and torque distribution telemetry

[INITIALIZED] Gemini Robotics 2 / Apollo Humanoid Whole-Body Controller... [PRESET] Heavy Cleats Pack loaded. [TELEMETRY] CoM Offset: 2.40 cm | Support Margin: 8.20 cm | Stance: 38 cm [STATUS] Stable posture within Foot Support Polygon (ZMP inside support).

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