# Fixed-controller speed pilot

Exploratory baseline-only pilot. No tuning, no transfer selection, no reliability estimate.

Placement / combined pass counts use all three layouts; invalid runs remain separate, not physical failures.
Peak height range is over valid trials; no monotonic speed boundary is assumed.

| Engine | Push (s) | Placement | Placement + tracking | Invalid | Peak Z error (mm) |
|---|---:|---:|---:|---:|---:|
| physx | 3 | 3/3 | 3/3 | 0 | 0.93–7.64 |
| physx | 2 | 3/3 | 3/3 | 0 | 0.61–0.68 |
| physx | 1.5 | 3/3 | 3/3 | 0 | 0.49–0.60 |
| physx | 1 | 3/3 | 3/3 | 0 | 0.31–0.34 |
| physx | 0.75 | 3/3 | 3/3 | 0 | 0.24–0.24 |
| newton_mjwarp | 3 | 3/3 | 3/3 | 0 | 4.29–4.91 |
| newton_mjwarp | 2 | 3/3 | 3/3 | 0 | 4.20–5.24 |
| newton_mjwarp | 1.5 | 3/3 | 3/3 | 0 | 3.87–5.00 |
| newton_mjwarp | 1 | 3/3 | 3/3 | 0 | 3.41–4.03 |
| newton_mjwarp | 0.75 | 3/3 | 3/3 | 0 | 2.86–3.33 |
| mujoco_cpu | 3 | 3/3 | 3/3 | 0 | 2.81–3.85 |
| mujoco_cpu | 2 | 3/3 | 3/3 | 0 | 2.26–3.66 |
| mujoco_cpu | 1.5 | 3/3 | 3/3 | 0 | 3.41–3.47 |
| mujoco_cpu | 1 | 3/3 | 3/3 | 0 | 2.66–2.82 |
| mujoco_cpu | 0.75 | 3/3 | 3/3 | 0 | 2.02–2.18 |
| genesis | 3 | 3/3 | 3/3 | 0 | 0.19–0.21 |
| genesis | 2 | 3/3 | 3/3 | 0 | 0.38–0.39 |
| genesis | 1.5 | 3/3 | 3/3 | 0 | 0.56–0.57 |
| genesis | 1 | 3/3 | 3/3 | 0 | 0.94–0.94 |
| genesis | 0.75 | 3/3 | 3/3 | 0 | 1.17–1.20 |