Stair environment

Pupper v3 · MJX · up and down · 2026-10-05 · training run stairs_v2

Training field

24 × 24 m

heightfield

2 cm

grid

144

tiles of 2 m · 25 flat · 56 pyramid · 63 pit

1–8 cm

rise

7–30 cm

tread · half of the stair tiles 7–12 cm

34 %

level spawn area

height map — **Height map** · amber up (pyramids), blue down (pits), F flat · dashed: spawn area

pyramid — **Pyramid stairs** · rise 5.9 cm · tread 8.6 cm

pit — **Pit** · rise 5.1 cm · tread 10.6 cm

Evaluation course

3 · 3

steps up · down

80 mm

tread · 3 steps per print

160 mm

top

0–8 cm

rise, one lane each

480 mm

width (two pieces)

10 × 0.3 m/s

trials per rise · command

**4 cm lane** · vertical risers, as printed

Baseline on the course

rise (cm)	0	1	2	3	≥ 8/10
Stanford climbing	10	10	10	2	2 cm
Stanford flat	10	10	0	0	1 cm
Ours, 1B flat (10/02)	10	9	0	0	1 cm

Stanford climbing · 2 cm · up and down in 4.9 s

Stanford climbing · 3 cm · off the side at 6.2 s

Ours, 1B flat · 2 cm · stuck at the first riser

Printed course · rise 40 mm

identical pieces · 3 steps each

2.5 kg

PLA at 6 % infill (estimate)

480 × 480 mm

footprint

dovetails

no bolts · lowered from above

0.000 mm

height difference vs simulator

printed course — **Assembled** · two rows of an up piece and the same piece turned 180°

exploded — **One piece lifted** · dovetails slide vertically, lock sideways

**One piece** · back face: one tongue, one groove · side: tongues

**Back joint** · pieces pulled 40 mm apart

Measured from the terrain

Foot contact

MJX contact list

Spawn

level ground

Fall

torso < 5 cm above terrain · tilt > 40°

Belly

8 points under the terrain = fall

SNUPuppy/terrain_training · README.md · render_env.py → make_env_viz.py