LOCOMOTION LAB
BROWSER SIMULATIONConnecting
CONTROL EXPLORER / QUADRUPED

Legged controller

Waypoint tracking · SRBM + force MPC

WORLD FRAME X / Y / Z↑
Starting your simulationPreparing the controller. The first visit downloads its numerical runtime.
3D WORKSPACEPaused
Preparing the 3D workspaceLoading the local renderer
SIMULATION TIME0.00 s
DISTANCE TO GOAL— m
BODY SPEED0.00 m/s
HEADING ERROR— °
Drag to orbit · Scroll to zoom · Double-click the ground to set a goalDrag to orbit · Pinch to zoom · Enter a waypoint belowFLAT TERRAIN · METRES
Predicted footstepsSwing preview · 3 steps/legBody prediction

Body state

WORLD FRAME
X / ROLLY / PITCHZ / YAW
Position m0.000.000.00
Orientation °0.00.00.0
Velocity m/s0.000.000.00
Angular vel. rad/s0.000.000.00

Contact schedule

TROT
NOWPREDICTION HORIZON
StanceSwing12 intervals · 50 ms

Support forces

FZ / N
Waiting for MPC— ms