- Forward speed
- 0.00 m/s
- Yaw rate
- 0.00 rad/s
- Hinge-pin height
- 0.99 m
- Mode
- Loading
Always available
Recorded demonstrations
Loading trajectory data…
Interactive mode
Keyboard and touch controls
Hold a key or button. Inputs return to neutral on release, blur, or page hide.
Receipts, not CAD claims
Model provenance and limits
The MJCF, visual OBJ, eight CoACD collision-hull receipts, texture, material, and trajectories
are exact copies from ecosystem-robot@3cdfd0bb4e5b04edcf8e89fd57bb92940878dfc1.
The visual is an operator-approved AI/multiview reconstruction, not manufacturer CAD. Source
+x as the front is an explicit inference.
Yard assets are exact copies from
ecosystem-robot@e4a5b6b7b511d819c0442ea7c55956e376f4f8bd.
The fitted similarity transform already contains the
4.542759732885 m/splat-unit scale. For every raw splat point, the page computes
p_mujoco = M_splat_to_machine × [p_splat,1] + [0,0,0.152625465989,0], then the
existing world parent maps it to Three as (x,z,-y). The same linear transform is
applied to each Gaussian covariance. The pooled trimmed fit RMS is 0.057145 m;
fitted-ground median and RMS residuals are 0.015422 m and 0.023836 m.
“Plain” shows a decimated visual mesh reconstructed from the same 601 × 601 PNG MuJoCo loads;
the debug switch overlays its wireframe for alignment judgment. The 145,000-record, SH0/DC-only
splat uses the open 32-byte layout and is capped in code at 300,000 records. Its one-canvas,
main-thread renderer is adapted from MIT-licensed
antimatter15/splat@ba182b51b7c2ad5738cdd6741cd63336d27470fb.
| Quantity | Model value | Recorded provenance |
|---|---|---|
| Overall length, less bucket | 2.379 m | Public spec-sheet research |
| Overall width | 1.466 m | Public spec-sheet research |
| Height to ROPS | 1.930 m | Public Gehl 4610 shared-chassis spec research |
| Wheelbase | 0.904 m | Public spec-sheet research |
| Tyre marking | 10.00×16.5 | Manual evidence cited by the source model |
| Shipping mass | 1,882 kg | Manual evidence cited by the source model |
| Maximum hinge-pin height | 2.908 m | Operator’s-manual figure cited by the source model |
| Fully-raised operating height | 3.454 m | Operator’s-manual figure cited by the source model |
The source-relative assets/… and yard/… layouts are preserved in the
virtual filesystem, so both pinned MJCF files load without rewritten elements or paths.
Yard mode is the default; ?yard=0 retains flat-plane compatibility. MuJoCo physics
runs at 500 Hz; trajectory replay uses every recorded 0.02-second sample.
Vendored runtime receipt
The integration follows MIT-licensed zalo/mujoco_wasm at
b713a246398e6953ac0ed5309c429f33355bb6ab, which consumes the official Apache-2.0
@mujoco/[email protected] single-threaded npm build (release commit
13827e9ee56f097f57acf69ae52b078f9839682d). Zalo has no stable tagged/npm
binary release to copy; its pinned migration delegates to this versioned official package.
Both runtime files are served from this origin; no CDN is used.
mujoco.js· 293,092 bytes · SHA-256214dd7ead76aecd6e9b6525b2b83eca88e9ed3b893231361b4f1e2716a123a0amujoco.wasm· 10,125,422 bytes · SHA-25670f991e34b22674611d0cba181a9afb7b66914557c0817d5b5b0f7de10e6d548three.module.js· Three.js 0.157.0 · SHA-256ef5c33eb93a1e3638bd53a2c84224486578ed3c8479976a8985447e7d734fb99
Boundary: this page has no hardware, hydraulic, engine, network-control, or production-database connection. Do not transfer simulated gains, forces, or motion to a physical machine.